diff --git a/.gitattributes b/.gitattributes index 1ef325f1b111266a6b26e0196871bd78baa8c2f3..b9aa4bed955f188c45642380445b5b0706311ccd 100644 --- a/.gitattributes +++ b/.gitattributes @@ -57,3 +57,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text # Video files - compressed *.mp4 filter=lfs diff=lfs merge=lfs -text *.webm filter=lfs diff=lfs merge=lfs -text +info/consolidated_datasets.json filter=lfs diff=lfs merge=lfs -text diff --git a/dataset_info/AIRBOT_MMK2_beauty_sponge_and_cake_to_place.yaml b/dataset_info/AIRBOT_MMK2_beauty_sponge_and_cake_to_place.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6513b48dbd9f5ff3228cb30393b95cd1b1f1743c --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_beauty_sponge_and_cake_to_place.yaml @@ -0,0 +1,951 @@ +dataset_name: beauty_sponge_and_cake_to_place +dataset_uuid: c4b8c5b1-7a57-48f3-9074-c2a019dbfd16 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: beauty_blender + level1: tools + level2: beauty_blender + level3: null + level4: null + level5: null +- object_name: cake + level1: food + level2: cake + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_beauty_sponge_and_cake_to_place +video_url: ./assets/videos/AIRBOT_MMK2_beauty_sponge_and_cake_to_place.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_beauty_sponge_and_cake_to_place.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 394.9MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 8096 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Take the beauty blender out of the plate with one hand and place it on the + table, then pick up the cake on the table with the other hand and put it on the + plate. +sub_tasks: +- Static +- End +- Grasp the bullet into the plate with the left gripper +- Grasp the cake on the table with the right gripper +- Place the bullet on the table with the left gripper +- Abnormal +- Place the cake into the plate with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_beauty_sponge_and_cake_to_place_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 77 + dataset_name: beauty_sponge_and_cake_to_place + dataset_uuid: c4b8c5b1-7a57-48f3-9074-c2a019dbfd16 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/bb_bounces_on_the_table_and_cake_storage/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_beauty_sponge_and_cake_to_place + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: beauty_sponge_and_cake_to_place + dataset_uuid: null + task_descriptions: + - take the beauty blender out of the plate with your left hand and place it on + the table, then pick up the cake on the table with your right hand and put it + on the plate. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: beauty_blender + level1: tools + level2: beauty_blender + level3: null + level4: null + level5: null + - object_name: cake + level1: food + level2: cake + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - discover_robotics_aitbot_mmk2 + end_effector_type: two_finger_gripper + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 8096 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_bowl_storage_pepper.yaml b/dataset_info/AIRBOT_MMK2_bowl_storage_pepper.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f9884022adf8145ca2291af381a8e9e6471cc39b --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_bowl_storage_pepper.yaml @@ -0,0 +1,957 @@ +dataset_name: bowl_storage_pepper +dataset_uuid: 83f67fd9-c480-4786-ae1d-41475a4f4618 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: chili_pepper + level1: vegetables + level2: chili_pepper + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +- object_name: pumpkin + level1: vegetables + level2: pumpkin + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_bowl_storage_pepper +video_url: ./assets/videos/AIRBOT_MMK2_bowl_storage_pepper.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_bowl_storage_pepper.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 715.7MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 150 + total_frames: 19594 + total_tasks: 3 + total_videos: 600 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:149 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Use one hand to place the pumpkin into the large white bowl while using your + other hand to make space. + + The person used one hand to throw the chili peppers into the blue bowl. + + Use one hand to place the small bowl into the large one while using your other hand + to make space.' +sub_tasks: +- Place the white bowl on the pink bowl with the left gripper +- Grasp the white bowl with the left gripper +- Static +- End +- Abnormal +- Grasp the pumpkin with the left gripper +- Place the pumpkin on the pink bowl with the left gripper +- Grasp the yellow round chili pepper with the right gripper +- Place yellow round chili pepper on the blue bowl with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_bowl_storage_pepper_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 98 + dataset_name: bowl_storage_pepper + dataset_uuid: 83f67fd9-c480-4786-ae1d-41475a4f4618 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/bowl_storage/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_bowl_storage_pepper + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: bowl_storage_pepper + dataset_uuid: null + task_descriptions: + - with the right hand, the person threw the chili peppers into the blue bowl. + - put the pumpkin into the large white bowl with your left hand. give space to + your left hand with your right hand. + - put the small bowl into the large one with your left hand, and give space to + your left hand with your right hand. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: chili_pepper + level1: vegetables + level2: chili_pepper + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level4: null + level5: null + - object_name: pumpkin + level1: vegetables + level2: pumpkin + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 150 + total_frames: 19594 + total_tasks: 3 + total_videos: 600 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:149 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_boxs_storage.yaml b/dataset_info/AIRBOT_MMK2_boxs_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..18a3f1b70844a72299c62a174b6b5e691e69538e --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_boxs_storage.yaml @@ -0,0 +1,1023 @@ +dataset_name: boxs_storage +dataset_uuid: fda26243-c5f4-4e3a-8a7e-84a7d7c71f3a +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: calculator_box + level1: container + level2: calculator_box + level3: null + level4: null + level5: null +- object_name: power_bank_box + level1: container + level2: power_bank_box + level3: null + level4: null + level5: null +- object_name: bucket + level1: container + level2: bucket + level3: null + level4: null + level5: null +- object_name: pomegranate + level1: fruit + level2: pomegranate + level3: null + level4: null + level5: null +- object_name: mango + level1: fruit + level2: mango + level3: null + level4: null + level5: null +- object_name: potato + level1: vegetable + level2: potato + level3: null + level4: null + level5: null +- object_name: pumpkin + level1: vegetable + level2: pumpkin + level3: null + level4: null + level5: null +- object_name: compartment + level1: container + level2: compartment + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_boxs_storage +video_url: ./assets/videos/AIRBOT_MMK2_boxs_storage.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_boxs_storage.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 1.2GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 138 + total_frames: 40906 + total_tasks: 3 + total_videos: 552 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:137 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Throw the pomegranate into one square and the mango into the other square. + + Throw the potato into one square and the pumpkin into the other square. + + Put the calculator box and the power bank box in the yellow bucket.' +sub_tasks: +- Grasp the potato with the left gripper +- Place the phone case box in the yellow box with the right gripper +- Place the pumpkin into the right compartment of the storage box with the right gripper +- Place the calculator box in the yellow box with the left gripper +- Static +- Grasp the calculator box with the left gripper +- End +- Grasp the mango with the right gripper +- Grasp the pomegranate with the left gripper +- Place the pomegranate into the left compartment of the storage box with the left + gripper +- Place the mango into the right compartment of the storage box with the right gripper +- Grasp the phone case box with the right gripper +- Place the potato into the left compartment of the storage box with the left gripper +- Grasp the pumpkin with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_boxs_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 99 + dataset_name: boxs_storage + dataset_uuid: fda26243-c5f4-4e3a-8a7e-84a7d7c71f3a + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/box_storage/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_boxs_storage + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: boxs_storage + dataset_uuid: null + task_descriptions: + - put the calculator box in the yellow bucket with your left hand and the power + bank box in the yellow bucket with your right hand. + - throw the pomegranate into the left square with your left hand and the mango + into the right square with your right hand. + - throw the potato into the left square with your left hand and the pumpkin into + the right square with your right hand. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: calculator_box + level1: container + level2: calculator_box + level3: null + level4: null + level5: null + - object_name: power_bank_box + level1: container + level2: power_bank_box + level3: null + level4: null + level5: null + - object_name: bucket + level1: container + level2: bucket + level3: null + level4: null + level5: null + - object_name: pomegranate + level1: fruit + level2: pomegranate + level3: null + level4: null + level5: null + - object_name: mango + level1: fruit + level2: mango + level3: null + level4: null + level5: null + - object_name: potato + level1: vegetable + level2: potato + level3: null + level4: null + level5: null + - object_name: pumpkin + level1: vegetable + level2: pumpkin + level3: null + level4: null + level5: null + - object_name: compartment + level1: container + level2: compartment + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 138 + total_frames: 40906 + total_tasks: 3 + total_videos: 552 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:137 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_building_block_storage.yaml b/dataset_info/AIRBOT_MMK2_building_block_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b41cee908591e432bbfe037d664c02c0b1a89191 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_building_block_storage.yaml @@ -0,0 +1,1007 @@ +dataset_name: building_block_storage +dataset_uuid: 55a64137-7092-451d-8a70-b22ff2383b33 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: building_block + level1: toy + level2: building_block + level3: null + level4: null + level5: null +- object_name: toy_circle + level1: toy + level2: toy_circle + level3: null + level4: null + level5: null +- object_name: building_block_base + level1: toy + level2: building_block_base + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_building_block_storage +video_url: ./assets/videos/AIRBOT_MMK2_building_block_storage.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_building_block_storage.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 1.4GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 246 + total_frames: 39347 + total_tasks: 5 + total_videos: 984 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:245 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Take the rectangular building blocks out of the plate with one hand, and then + take the remaining rectangular building blocks out of the plate with the other hand. + + pick up the building blocks on the table with both hands simultaneously and place + them on the plate. + + Pick up one yellow building block from a side of the table and put it in the blue + circle, and then pick up the other yellow building block from the opposite side + of the table and put it in the blue circle. + + Pick up the green cylinder from one side of the table and put it in the paper box, + then pick up the red cylinder from the opposite side of the table and put it in + the paper box. + + Pick up the cylindrical building block from the table and place it on the corresponding + block base.' +sub_tasks: +- Place the red cylinder in the box with the right gripper +- Place the yellow block in the blue circle with the left gripper +- Place the green coil on the wooden pillar with the right gripper +- Grasp the green rectangular block on the plate with the right gripper +- Place the yellow block in the blue circle with the right gripper +- End +- Grasp the red cylinder with the right gripper +- Place green rectangular block on the table with the right gripper +- Grasp the yellow block with the left gripper +- Grasp the green coil with the right gripper +- Abnormal +- Grasp the green cylinder with the left gripper +- Grasp the yellow block with the rightt gripper +- Grasp the red rectangular block on the plate with the left gripper +- Place the green cylinder in the box with the left gripper +- Place red rectangular block on the table with the left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_building_block_storage_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 101 + dataset_name: building_block_storage + dataset_uuid: 55a64137-7092-451d-8a70-b22ff2383b33 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/building_block_storage/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_building_block_storage + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: building_block_storage + dataset_uuid: null + task_descriptions: + - pick up the yellow building block on the left side of the table with your left + hand and put it in the blue circle, and then pick up the yellow building block + on the right side of the table and put it in the blue circle with your right + hand. + - pick up the cylindrical building block from the table with your right hand and + place it on the corresponding block base. + - pick up the green cylinder on the left side of the table with your left hand + and put it in the paper box, then pick up the red cylinder on the right side + of the table and put it in the paper box with your right hand. + - pick up the building blocks on the table with both hands simultaneously and + place them on the plate. + - take the rectangular building blocks out of the plate with your left hand, and + then take the rectangular building blocks out of the plate with your right hand. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: building_block + level1: toy + level2: building_block + level3: null + level4: null + level5: null + - object_name: toy_circle + level1: toy + level2: toy_circle + level3: null + level4: null + level5: null + - object_name: building_block_base + level1: toy + level2: building_block_base + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - discover_robotics_aitbot_mmk2 + end_effector_type: two_finger_gripper + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 246 + total_frames: 39347 + total_tasks: 5 + total_videos: 984 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:245 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_cake_storage.yaml b/dataset_info/AIRBOT_MMK2_cake_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..01b8dfdfe59274a9ca4c774d0b0d0174b2d07980 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_cake_storage.yaml @@ -0,0 +1,933 @@ +dataset_name: cake_storage +dataset_uuid: ac6999bc-70a1-42a2-9b0c-7da1a22d297c +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: cake + level1: food + level2: cake + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_cake_storage +video_url: ./assets/videos/AIRBOT_MMK2_cake_storage.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_cake_storage.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 198.5MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 4691 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: pick up the cake on the table with both hands and place it on a white plate. +sub_tasks: +- End +- Grasp the cake with the left gripper +- Place the cake on the white basket with the left gripper +- Grasp the cake with the right gripper +- Place the cake on the white basket with the right gripper +- Static +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_cake_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 84 + dataset_name: cake_storage + dataset_uuid: ac6999bc-70a1-42a2-9b0c-7da1a22d297c + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/put_the_cake_on/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_cake_storage + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: cake_storage + dataset_uuid: null + task_descriptions: + - pick up the cake on the table with both hands and place it on a white plate. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cake + level1: food + level2: cake + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 4691 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_chop_the_scallions.yaml b/dataset_info/AIRBOT_MMK2_chop_the_scallions.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d3d13ca702936801fd12f793a7116bda709f9c95 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_chop_the_scallions.yaml @@ -0,0 +1,930 @@ +dataset_name: chop_the_scallions +dataset_uuid: 5beeb056-0ab1-4611-8791-0f80b7dc82d2 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +- cut +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: knife + level1: food + level2: green_onion + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_chop_the_scallions +video_url: ./assets/videos/AIRBOT_MMK2_chop_the_scallions.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_chop_the_scallions.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 573.9MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 14308 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Take the knife off the knife rack with one hand, hold the scallion with the + other hand, cut the scallion with the knife, and then put the knife back on the + knife rack. +sub_tasks: +- Grasp the kitchen knife with the right gripper +- Press the scallion with the left gripper +- Place the kitchen knife back on the knife holder with the right gripper +- Static +- End +- Abnormal +- Cut scallions with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_chop_the_scallions_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 90 + dataset_name: chop_the_scallions + dataset_uuid: 5beeb056-0ab1-4611-8791-0f80b7dc82d2 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/chop_the_scallions/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_chop_the_scallions + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: chop_the_scallions + dataset_uuid: null + task_descriptions: + - take the knife off the knife rack with your right hand, hold the scallion with + your left hand, cut the scallion with your right hand, and then put the knife + back on the knife rack. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + - cut + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: knife + level1: food + level2: green_onion + level3: null + level4: null + level5: null + bject_name: green_onion + operation_platform_height: 77.2 + device_model: + - discover_robotics_aitbot_mmk2 + end_effector_type: two_finger_gripper + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 14308 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_clean_the_desktop.yaml b/dataset_info/AIRBOT_MMK2_clean_the_desktop.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ab092daa35534c404b56a305d8882f0937e8dbb --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_clean_the_desktop.yaml @@ -0,0 +1,922 @@ +dataset_name: clean_the_desktop +dataset_uuid: 05f361bc-b167-4623-b38b-a9371aa7d999 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: calculator_box + level1: tools + level2: umbrella + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_clean_the_desktop +video_url: ./assets/videos/AIRBOT_MMK2_clean_the_desktop.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_clean_the_desktop.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 327.5MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 49 + total_frames: 8709 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:48 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: place the umbrella and tissues on the white lid. +sub_tasks: +- End +- Grasp the tissue with the right gripper +- Place the umbrella on the white lid with the left gripper +- Place the tissue on the white lid with the right gripper +- Grasp the umbrella with the left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_clean_the_desktop_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 436 + dataset_name: clean_the_desktop + dataset_uuid: 05f361bc-b167-4623-b38b-a9371aa7d999 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/clean_the_desktop/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_clean_the_desktop + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: place_the_calculator_box + dataset_uuid: null + task_descriptions: + - pick the calculator box by left hand and give it to right hand,and then place + it on the table by right hand + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: calculator_box + level1: tools + level2: umbrella + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 49 + total_frames: 8709 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:48 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_clean_the_desktop_a.yaml b/dataset_info/AIRBOT_MMK2_clean_the_desktop_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..043f8c8f59e67e88aa31df2b6d19d387ee729b7c --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_clean_the_desktop_a.yaml @@ -0,0 +1,921 @@ +dataset_name: clean_the_desktop_a +dataset_uuid: 05f361bc-b167-4623-b38b-a9371aa7d998 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: calculator_box + level1: tools + level2: umbrella + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_clean_the_desktop_a +video_url: ./assets/videos/AIRBOT_MMK2_clean_the_desktop_a.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_clean_the_desktop_a.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 338.3MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 9819 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: place the umbrella and tissues on the white lid. +sub_tasks: +- Place the calculator case in the center of table with right gripper +- Grasp the calculator case with left gripper +- Pass the calculator case to right gripper +- End +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_clean_the_desktop_a_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 573 + dataset_name: clean_the_desktop_a + dataset_uuid: 05f361bc-b167-4623-b38b-a9371aa7d998 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/clean_the_desktop/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_clean_the_desktop_a + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: place_the_calculator_box + dataset_uuid: null + task_descriptions: + - pick the calculator box by left hand and give it to right hand,and then place + it on the table by right hand + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: calculator_box + level1: tools + level2: umbrella + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 9819 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_close_the_computer.yaml b/dataset_info/AIRBOT_MMK2_close_the_computer.yaml new file mode 100644 index 0000000000000000000000000000000000000000..83c46cdf0b33708c62f3d0c3f4cf0043c5466540 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_close_the_computer.yaml @@ -0,0 +1,922 @@ +dataset_name: close_the_computer +dataset_uuid: 5e9fe536-85e9-4e68-b390-51ba7aec5e6b +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: computer + level1: office_supplies + level2: computer + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_close_the_computer +video_url: ./assets/videos/AIRBOT_MMK2_close_the_computer.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_close_the_computer.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 320.9MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 49 + total_frames: 7754 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:48 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Hold the computer with one hand and close it with the other. +sub_tasks: +- End +- Press the laptop with the left gripper +- Release the laptop with the left gripper +- Static +- Abnormal +- Close the laptop with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_close_the_computer_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 73 + dataset_name: close_the_computer + dataset_uuid: 5e9fe536-85e9-4e68-b390-51ba7aec5e6b + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/close_the_computer/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_close_the_computer + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: close_the_computer + dataset_uuid: null + task_descriptions: + - hold the computer with your left hand and close it with your right hand. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: computer + level1: office_supplies + level2: computer + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 49 + total_frames: 7754 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:48 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_cup_storage.yaml b/dataset_info/AIRBOT_MMK2_cup_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..16c2dfae8072eff1e619e1062d401d0f1c3fecda --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_cup_storage.yaml @@ -0,0 +1,935 @@ +dataset_name: cup_storage +dataset_uuid: 4f813d8b-217d-4c36-9698-e2c22c0696ae +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_cup_storage +video_url: ./assets/videos/AIRBOT_MMK2_cup_storage.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_cup_storage.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 522.9MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 48 + total_frames: 12246 + total_tasks: 1 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:47 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Hold the blue cup in one hand and place it on the plate, then hold the purple + cup in your other hand and put it in the blue cup. +sub_tasks: +- Place the blue cup on the plate with the left gripper +- Place the purple cup on the blue cup with the right gripper +- Abnormal +- End +- Grasp the purple cup with the right gripper +- Grasp the blue cup with the left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_cup_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 88 + dataset_name: cup_storage + dataset_uuid: 4f813d8b-217d-4c36-9698-e2c22c0696ae + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/cup_storage/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_cup_storage + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: cup_storage + dataset_uuid: null + task_descriptions: + - hold the blue cup in your left hand and place it on the plate, and hold the + purple cup in your right hand and put it in the blue cup. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 48 + total_frames: 12246 + total_tasks: 1 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:47 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_desktop_storage.yaml b/dataset_info/AIRBOT_MMK2_desktop_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a61470417d2af1ba3279fb64d8f7b3b12e8736 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_desktop_storage.yaml @@ -0,0 +1,960 @@ +dataset_name: desktop_storage +dataset_uuid: d50796e5-0306-40cf-8b49-547630740ce6 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: mouse_box + level1: container + level2: mouse_box + level3: null + level4: null + level5: null +- object_name: calculator_box + level1: container + level2: calculator_box + level3: null + level4: null + level5: null +- object_name: coffee_cup + level1: container + level2: coffee_cup + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_desktop_storage +video_url: ./assets/videos/AIRBOT_MMK2_desktop_storage.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_desktop_storage.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 171.0MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 13 + total_frames: 3939 + total_tasks: 1 + total_videos: 52 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:12 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Stack the mouse box on top of the computer box with one hand and place the + coffee cup on the plate with the other. +sub_tasks: +- Place the mouse box on the calculator box with the left gripper +- Grasp the coffee with the right gripper +- Grasp the mouse box with the left gripper +- Static +- Place the coffee into the plate with the right gripper +- End +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_desktop_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 79 + dataset_name: desktop_storage + dataset_uuid: d50796e5-0306-40cf-8b49-547630740ce6 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/desktop_storage/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_desktop_storage + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: desktop_storage + dataset_uuid: null + task_descriptions: + - place the mouse box on top of the calculator box with your left hand and place + the coffee cup on the plate with your right hand. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: mouse_box + level1: container + level2: mouse_box + level3: null + level4: null + level5: null + - object_name: calculator_box + level1: container + level2: calculator_box + level3: null + level4: null + level5: null + - object_name: coffee_cup + level1: container + level2: coffee_cup + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 13 + total_frames: 3939 + total_tasks: 1 + total_videos: 52 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:12 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_diamond_storage.yaml b/dataset_info/AIRBOT_MMK2_diamond_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d09b6e172639298fb7ec73649edb3e3281a818a --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_diamond_storage.yaml @@ -0,0 +1,935 @@ +dataset_name: diamond_storage +dataset_uuid: 07392499-4ada-4393-b1db-c07154012f54 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +- cover +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +- object_name: diamond + level1: mineral + level2: diamond + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_diamond_storage +video_url: ./assets/videos/AIRBOT_MMK2_diamond_storage.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_diamond_storage.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 426.8MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 9131 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Pick up the diamond and put it into the box, then close the lid. +sub_tasks: +- End +- Place the diamond ring in the box with the right gripper +- Close the lid of the box with the left gripper +- Grasp the diamond ring with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_diamond_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 89 + dataset_name: diamond_storage + dataset_uuid: 07392499-4ada-4393-b1db-c07154012f54 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/diamond_storage/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_diamond_storage + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: diamond_storage + dataset_uuid: null + task_descriptions: + - pick up the diamond with your right hand and put it into the box, then close + the lid with your left hand. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + - cover + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: diamond + level1: mineral + level2: diamond + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 9131 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_double-sided_tape_placement.yaml b/dataset_info/AIRBOT_MMK2_double-sided_tape_placement.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7956cab5214bb07dfcbc52c0a3efbd11c610c4c9 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_double-sided_tape_placement.yaml @@ -0,0 +1,938 @@ +dataset_name: double-sided_tape_placement +dataset_uuid: 41460366-02ad-4c55-9db3-7dc79d98681d +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: meinian_da + level1: drink + level2: meinian_da + level3: null + level4: null + level5: null +- object_name: double-sided_tape + level1: tool + level2: double-sided_tape + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_double-sided_tape_placement +video_url: ./assets/videos/AIRBOT_MMK2_double-sided_tape_placement.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_double-sided_tape_placement.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 553.8MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 11452 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Pick up a piece of double-sided tape and put it over the meinianda, then pick + up another piece and put it over the meinianda. +sub_tasks: +- Place the transparent circular ring on the right onto the fanta in the middle with + right gripper +- End +- Grasp the transparent circular ring on the left with the left gripper +- Place the transparent circular ring on the left onto the fanta in the middle with + left gripper +- Abnormal +- Grasp the transparent circular ring on the right with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_double-sided_tape_placement_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 91 + dataset_name: double-sided_tape_placement + dataset_uuid: 41460366-02ad-4c55-9db3-7dc79d98681d + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/meinian_da_set_of_adhesive_tape/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_double-sided_tape_placement + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: double-sided_tape_placement + dataset_uuid: null + task_descriptions: + - pick up the double-sided tape with your left hand and put it over the meinianda, + pick up another double-sided tape with your right hand and put it over the meinianda. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: meinian_da + level1: drink + level2: meinian_da + level3: null + level4: null + level5: null + - object_name: double-sided_tape + level1: tool + level2: double-sided_tape + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 11452 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_egg_storage.yaml b/dataset_info/AIRBOT_MMK2_egg_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2a5b47d407f45c1ed7cc26730efe1b13ddf11bea --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_egg_storage.yaml @@ -0,0 +1,950 @@ +dataset_name: egg_storage +dataset_uuid: 63a0fe6b-923c-4ac5-9b65-501c2a9b8c99 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +- object_name: egg + level1: food + level2: egg + level3: null + level4: null + level5: null +- object_name: egg_box + level1: food + level2: egg_box + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_egg_storage +video_url: ./assets/videos/AIRBOT_MMK2_egg_storage.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_egg_storage.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 525.2MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 58 + total_frames: 13597 + total_tasks: 2 + total_videos: 232 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:57 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Put the egg on one side in the bowl with one hand and the egg on the other + side in the bowl with your other hand. + + Pick up the egg from the table with one hand and put it in the egg box.' +sub_tasks: +- Grasp the egg with the left gripper +- Grasp the egg with the right gripper +- Abnormal +- End +- Place the egg into bowl with the left gripper +- Place the egg into bowl with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_egg_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 103 + dataset_name: egg_storage + dataset_uuid: 63a0fe6b-923c-4ac5-9b65-501c2a9b8c99 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/egg_storage/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_egg_storage + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: egg_storage + dataset_uuid: null + task_descriptions: + - put the egg on the left in the bowl with your left hand and the egg on the right + in the bowl with your right hand. + - pick up the egg from the table with your right hand and put it in the egg box. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + - object_name: egg + level1: food + level2: egg + level3: null + level4: null + level5: null + - object_name: egg_box + level1: food + level2: egg_box + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 58 + total_frames: 13597 + total_tasks: 2 + total_videos: 232 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:57 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_food_storage.yaml b/dataset_info/AIRBOT_MMK2_food_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2f267a7d9e614b6af16851d6b39ceab82f94757f --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_food_storage.yaml @@ -0,0 +1,1108 @@ +dataset_name: food_storage +dataset_uuid: 9c369848-06e7-404b-b234-c5f7a829f345 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: cake + level1: food + level2: cake + level3: null + level4: null + level5: null +- object_name: ice_cream + level1: food + level2: ice_cream + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: egg + level1: food + level2: egg + level3: null + level4: null + level5: null +- object_name: egg_box + level1: container + level2: egg_box + level3: null + level4: null + level5: null +- object_name: potato + level1: vegetables + level2: potato + level3: null + level4: null + level5: null +- object_name: grid + level1: container + level2: grid + level3: null + level4: null + level5: null +- object_name: braised_pork + level1: food + level2: braised_pork + level3: null + level4: null + level5: null +- object_name: prawns + level1: food + level2: prawns + level3: null + level4: null + level5: null +- object_name: sponge + level1: kitchenware + level2: sponge + level3: null + level4: null + level5: null +- object_name: wooden_frame + level1: furniture + level2: wooden_frame + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_food_storage +video_url: ./assets/videos/AIRBOT_MMK2_food_storage.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_food_storage.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 2.4GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 344 + total_frames: 58969 + total_tasks: 7 + total_videos: 1376 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:343 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Place the potato in one compartment using one hand while keeping the other + hand still. + + Pick up the cake and ice cream from the table simultaneously with both hands, and + then throw them into the bowl and plate at the same time. + + Take the sponge out of the plate with one hand and place it on the table, then pick + up the cake from the table with the other hand and put it on the plate. + + Pick up one egg on the table with one hand and put it on the plate, then pick up + another egg on the table with the other hand and put it on the plate. + + Pick up the egg on the table with one hand and put it into the egg box, then cover + the egg box with the other hand. + + Pick up the braised pork on the table with one hand and put it in the plate, and + then pick up the prawns on the table with the other hand and put them in the plate. + + Pick up one cake with one hand and place it on the wooden rack, and pick up the + other cake with the other hand and place it on the wooden rack.' +sub_tasks: +- Grasp the cake from the table and with the left gripper +- Place the shrimp into the plate with the right gripper +- Close the lid of the egg storage box with the left gripper +- Place the potato into the left compartment of the storage box with the left gripper +- Grasp the ice cream with the right gripper +- Place the braised pork in brown sauce into the plate with the left gripper +- Grasp the potato with the left gripper +- Place the cake into the bowl with the left gripper +- Place the egg into the egg storage box with the right gripper +- Grasp the egg with the left gripper +- Place the egg into the plate with the left gripper +- Grasp the egg with the right gripper +- Place the egg into the plate with the right gripper +- Place the cake onto the block toy with the left gripper +- Place the cake onto the block toy with the right gripper +- End +- Place the ice cream into the plate with the right gripper +- Grasp the cake from the table and with the right gripper +- Place the sponge on the table with the left gripper +- Grasp the braised pork in brown sauce with the left gripper +- Grasp the cake with the left gripper +- Static +- Grasp the sponge from the plate and with the left gripper +- Place the cake into the plate with the right gripper +- Abnormal +- Grasp the shrimp with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_food_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 104 + dataset_name: food_storage + dataset_uuid: 9c369848-06e7-404b-b234-c5f7a829f345 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/food_storage/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_food_storage + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: food_storage + dataset_uuid: null + task_descriptions: + - pick up the cake and ice cream from the table simultaneously with your left + and right hands, and then throw them into the bowl and plate at the same time. + - pick up the egg on the table with the right hand and put it into the egg box, + then cover the egg box with the left hand. + - place the potato in the left compartment with your left hand while keeping your + right hand still. + - pick up the braised pork on the table with your left hand and put it in the + plate, and then pick up the prawns on the table with your right hand and put + them in the plate. + - pick up the egg on the table with your left hand and put it on the plate, then + pick up another egg on the table with your right hand and put it on the plate. + - take the sponge out of the plate with your left hand and place it on the table, + then pick up the cake from the table with your right hand and put it on the + plate. + - pick up the cake on the left with your left hand and place it on the wooden + rack, and pick up the cake on the right with your right hand and place it on + the wooden rack. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cake + level1: food + level2: cake + level3: null + level4: null + level5: null + - object_name: ice_cream + level1: food + level2: ice_cream + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: egg + level1: food + level2: egg + level3: null + level4: null + level5: null + - object_name: egg_box + level1: container + level2: egg_box + level3: null + level4: null + level5: null + - object_name: potato + level1: vegetables + level2: potato + level3: null + level4: null + level5: null + - object_name: grid + level1: container + level2: grid + level3: null + level4: null + level5: null + - object_name: braised_pork + level1: food + level2: braised_pork + level3: null + level4: null + level5: null + - object_name: prawns + level1: food + level2: prawns + level3: null + level4: null + level5: null + - object_name: sponge + level1: kitchenware + level2: sponge + level3: null + level4: null + level5: null + - object_name: wooden_frame + level1: furniture + level2: wooden_frame + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 344 + total_frames: 58969 + total_tasks: 7 + total_videos: 1376 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:343 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_item_storage.yaml b/dataset_info/AIRBOT_MMK2_item_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e158ada6f033f2870de598d9fa5a8d5f4eb1af49 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_item_storage.yaml @@ -0,0 +1,976 @@ +dataset_name: item_storage +dataset_uuid: cfed792e-cf1c-4d1f-b6fc-a022e9be4d5e +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: able + level3: null + level4: null + level5: null +- object_name: barrel + level1: container + level2: barrel + level3: null + level4: null + level5: null +- object_name: umbrella + level1: daily_necessities + level2: umbrella + level3: null + level4: null + level5: null +- object_name: bottle + level1: container + level2: bottle + level3: null + level4: null + level5: null +- object_name: lid + level1: daily_necessities + level2: lid + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_item_storage +video_url: ./assets/videos/AIRBOT_MMK2_item_storage.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_item_storage.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 717.3MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 72 + total_frames: 18773 + total_tasks: 2 + total_videos: 288 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:71 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Place the umbrella on the white lid with one hand, and then put the blue bottle + on the white lid with the other hand. + + Pick up the large and small bowls simultaneously with both hands and put them into + the yellow bucket at the same time.' +sub_tasks: +- Grasp the umbrella with the left gripper +- End +- Grasp the bowl with the right gripper +- Grasp the bowl with the left gripper +- Place the cup into the white basket with the right gripper +- Static +- Place the umbrella into the white basket with the left gripper +- Place the bowl into the yellow basket with the left gripper +- Place the bowl into the yellow basket with the right gripper +- Grasp the cup with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_item_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 100 + dataset_name: item_storage + dataset_uuid: cfed792e-cf1c-4d1f-b6fc-a022e9be4d5e + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/bucket_storage/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_item_storage + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: item_storage + dataset_uuid: null + task_descriptions: + - pick up the large and small bowls simultaneously with both your left and right + hands and put them into the yellow bucket at the same time. + - place the umbrella on the white lid with your left hand, and then put the blue + bottle on the white lid with your right hand. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: able + level3: null + level4: null + level5: null + - object_name: barrel + level1: container + level2: barrel + level3: null + level4: null + level5: null + - object_name: umbrella + level1: daily_necessities + level2: umbrella + level4: null + level5: null + - object_name: bottle + level1: container + level2: bottle + level4: null + level5: null + - object_name: lid + level1: daily_necessities + level2: lid + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 72 + total_frames: 18773 + total_tasks: 2 + total_videos: 288 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:71 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_lemon_and_orange_storage.yaml b/dataset_info/AIRBOT_MMK2_lemon_and_orange_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bf105b1306d70429d078e46c257f4ee86b3e2c56 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_lemon_and_orange_storage.yaml @@ -0,0 +1,949 @@ +dataset_name: lemon_and_orange_storage +dataset_uuid: 0d0b881a-6584-4c86-a5de-2def6bfdaa68 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: lemon + level1: fruit + level2: lemon + level3: null + level4: null + level5: null +- object_name: compartment + level1: container + level2: compartment + level3: null + level4: null + level5: null +- object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_lemon_and_orange_storage +video_url: ./assets/videos/AIRBOT_MMK2_lemon_and_orange_storage.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_lemon_and_orange_storage.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 286.8MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 29 + total_frames: 8975 + total_tasks: 1 + total_videos: 116 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:28 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Place the lemon in one compartment and the orange in the other compartment, + using a different hand for each. +sub_tasks: +- Abnormal +- Static +- End +- Place the lemon into the left compartment of the storage box with the left gripper +- Place the orange into the right compartment of the storage box with the right gripper +- Grasp the lemon with the left gripper +- Grasp the orange with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_lemon_and_orange_storage_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 69 + dataset_name: lemon_and_orange_storage + dataset_uuid: 0d0b881a-6584-4c86-a5de-2def6bfdaa68 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/fruits_storage/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_lemon_and_orange_storage + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: lemon_and_orange_storage + dataset_uuid: null + task_descriptions: + - put the lemon in the left compartment with your left hand, put the orange in + the right compartment with your right hand. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: lemon + level1: fruit + level2: lemon + level3: null + level4: null + level5: null + - object_name: compartment + level1: container + level2: compartment + level3: null + level4: null + level5: null + - object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 29 + total_frames: 8975 + total_tasks: 1 + total_videos: 116 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:28 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_medicine_bottle_storage.yaml b/dataset_info/AIRBOT_MMK2_medicine_bottle_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..315c8d953a459819bcc969b865b2bccc88805354 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_medicine_bottle_storage.yaml @@ -0,0 +1,950 @@ +dataset_name: medicine_bottle_storage +dataset_uuid: dd96582f-4eb0-43ad-b486-538898f0f0fe +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: medicine_bottle + level1: container + level2: medicine_bottle + level3: null + level4: null + level5: null +- object_name: building_block + level1: toy + level2: building_block + level3: null + level4: null + level5: null +- object_name: white_platform + level1: container + level2: white_platform + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_medicine_bottle_storage +video_url: ./assets/videos/AIRBOT_MMK2_medicine_bottle_storage.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_medicine_bottle_storage.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 467.8MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 49 + total_frames: 16023 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:48 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Place the medicine bottle you are holding in one hand on the white platform, + then place the other medicine bottle you are holding on the same platform. +sub_tasks: +- Grasp the white bottle with the left gripper +- Static +- End +- Abnormal +- Grasp the white bottle the right gripper +- Place the white bottle on the white board with the left gripper +- Place the white bottle on the white board with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_medicine_bottle_storage_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 66 + dataset_name: medicine_bottle_storage + dataset_uuid: dd96582f-4eb0-43ad-b486-538898f0f0fe + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/medicine_bottle_storage/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_medicine_bottle_storage + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: medicine_bottle_storage + dataset_uuid: null + task_descriptions: + - place the medicine bottle with the medicine in the left hand on the white platform, + and then place the other white medicine bottle in the right hand on the same + white platform. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: medicine_bottle + level1: container + level2: medicine_bottle + level3: null + level4: null + level5: null + - object_name: building_block + level1: toy + level2: building_block + level3: null + level4: null + level5: null + - object_name: white_platform + level1: container + level2: white_platform + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 49 + total_frames: 16023 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:48 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_mobile_calculator_box.yaml b/dataset_info/AIRBOT_MMK2_mobile_calculator_box.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fb2757b2bff9b8c21294e35b38e17bd68e73a4f5 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_mobile_calculator_box.yaml @@ -0,0 +1,947 @@ +dataset_name: mobile_calculator_box +dataset_uuid: 7629d634-2d89-41ad-a722-364a319f374b +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: calculator_box + level1: container + level2: calculator_box + level3: null + level4: null + level5: null +- object_name: lid + level1: container + level2: lid + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_mobile_calculator_box +video_url: ./assets/videos/AIRBOT_MMK2_mobile_calculator_box.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_mobile_calculator_box.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 1.1GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 150 + total_frames: 34396 + total_tasks: 2 + total_videos: 600 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:149 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'One hand picked up the white lid from one side of the table and passed it + to the other hand, which then placed the lid on the opposite side of the table. + + Pick up the calculator box from one side of the table with one hand and pass it + to your other hand, which will then place the box on the opposite side of the table.' +sub_tasks: +- Grasp the calculator case with left gripper +- End +- Place the calculator case in the center of table with right gripper +- Place the white box in the center of table with right gripper +- Pass the white box to right gripper +- Grasp the yellow book with left gripper +- Place the yellow book in the center of table with right gripper +- Pass the yellow book to right gripper +- Pass the calculator case to right gripper +- Grasp the white box with left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_mobile_calculator_box_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 105 + dataset_name: mobile_calculator_box + dataset_uuid: 7629d634-2d89-41ad-a722-364a319f374b + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mobile_goods/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_mobile_calculator_box + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: mobile_calculator_box + dataset_uuid: null + task_descriptions: + - pick up the calculator box from the left side of the table with your left hand + and pass it to your right hand, which will then place the calculator box on + the right side of the table. + - the left hand picked up the white lid from the left side of the table and passed + it to the right hand, and the right hand placed the white lid on the right side + of the table. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: calculator_box + level1: container + level2: calculator_box + level3: null + level4: null + level5: null + - object_name: lid + level1: container + level2: lid + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - discover_robotics_aitbot_mmk2 + end_effector_type: two_finger_gripper + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 150 + total_frames: 34396 + total_tasks: 2 + total_videos: 600 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:149 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_mobile_car.yaml b/dataset_info/AIRBOT_MMK2_mobile_car.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6315cc7aa63ffdc4201537363979c0f8ea02412a --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_mobile_car.yaml @@ -0,0 +1,915 @@ +dataset_name: mobile_car +dataset_uuid: 51dbc118-d1f9-4b26-9b28-98863d08f696 +scene_type: +- home +atomic_actions: +- push +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: car + level1: toy + level2: car + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_mobile_car +video_url: ./assets/videos/AIRBOT_MMK2_mobile_car.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_mobile_car.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 175.6MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 6897 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Push the yellow cart away from your body with one hand. +sub_tasks: +- End +- Push the toy car from left to right with the left gripper +- Static +- Abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_mobile_car_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 96 + dataset_name: mobile_car + dataset_uuid: 51dbc118-d1f9-4b26-9b28-98863d08f696 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/trolley/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_mobile_car + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: mobile_car + dataset_uuid: null + task_descriptions: + - push the yellow car to the right with your left hand. + scene_type: + - home + atomic_actions: + - push + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: car + level1: toy + level2: car + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 6897 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_mobile_phone_storage.yaml b/dataset_info/AIRBOT_MMK2_mobile_phone_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0eb209ba4975ff08f748c41c20b1db3519a47baf --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_mobile_phone_storage.yaml @@ -0,0 +1,938 @@ +dataset_name: mobile_phone_storage +dataset_uuid: ae74a19b-7e4c-4f10-b378-faa014a9f006 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: mobile_phone + level1: communication_supplies + level2: mobile_phone + level3: null + level4: null + level5: null +- object_name: calculator_box + level1: container + level2: calculator_box + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_mobile_phone_storage +video_url: ./assets/videos/AIRBOT_MMK2_mobile_phone_storage.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_mobile_phone_storage.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 496.3MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 49 + total_frames: 9492 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:48 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Pick up the mobile phone and place it on the calculator box, then pick it up + from the box and put it on the table. +sub_tasks: +- End +- Place the telephone on the table with the right gripper +- Static +- Place the telephone on the box with the left gripper +- Grasp the telephone with the left gripper +- Grasp the telephone with the right gripper +- Abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_mobile_phone_storage_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 83 + dataset_name: mobile_phone_storage + dataset_uuid: ae74a19b-7e4c-4f10-b378-faa014a9f006 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/big_mobile_phone_storage/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_mobile_phone_storage + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: mobile_phone_storage + dataset_uuid: null + task_descriptions: + - pick up the mobile phone with your left hand and place it on the calculator + box.use your right hand to pick up the mobile phone from the calculator box.Put + it on the table. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: mobile_phone + level1: communication_supplies + level2: mobile_phone + level3: null + level4: null + level5: null + - object_name: calculator_box + level1: container + level2: calculator_box + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 49 + total_frames: 9492 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:48 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_open_notebook.yaml b/dataset_info/AIRBOT_MMK2_open_notebook.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6e1dcdbcd08724f4d07a8640f374587abc0d2ebe --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_open_notebook.yaml @@ -0,0 +1,923 @@ +dataset_name: open_notebook +dataset_uuid: f7156fc6-87bb-4662-b1ff-9cf8de2c4742 +scene_type: +- home +atomic_actions: +- grasp +- open +- hold +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: notebook + level1: office_supplies + level2: notebook + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_open_notebook +video_url: ./assets/videos/AIRBOT_MMK2_open_notebook.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_open_notebook.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 432.3MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 11734 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Press the bottom corner of the notebook with one hand and open it with the + other. +sub_tasks: +- Static +- End +- Release the laptop with the right gripper +- Press the laptop with the right gripper +- Open the laptop with the left gripper +- Grasp the laptop with the left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_open_notebook_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 71 + dataset_name: open_notebook + dataset_uuid: f7156fc6-87bb-4662-b1ff-9cf8de2c4742 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/open_notebook/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_open_notebook + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: open_notebook + dataset_uuid: null + task_descriptions: + - press the bottom right corner of the notebook with your right hand and open + the notebook with your left hand. + scene_type: + - home + atomic_actions: + - grasp + - open + - hold + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: notebook + level1: office_supplies + level2: notebook + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - discover_robotics_aitbot_mmk2 + end_effector_type: two_finger_gripper + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 11734 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_organize_and_place_books.yaml b/dataset_info/AIRBOT_MMK2_organize_and_place_books.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1b8906022b43172760e5b0091ec4f2e6aa854646 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_organize_and_place_books.yaml @@ -0,0 +1,923 @@ +dataset_name: organize_and_place_books +dataset_uuid: 6782c838-a0d2-4a8e-a50b-cc092bb2a215 +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: book + level1: office_supplies + level2: book + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_organize_and_place_books +video_url: ./assets/videos/AIRBOT_MMK2_organize_and_place_books.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_organize_and_place_books.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 372.1MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 48 + total_frames: 9838 + total_tasks: 1 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:47 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Take the book from the table with one hand and transfer it to your other hand, + then place it on another book. +sub_tasks: +- Place the yellow book on the white book with the right gripper +- Static +- End +- Deliver the yellow book from left gripper to right gripper +- Grasp the yellow book with the left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_organize_and_place_books_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 75 + dataset_name: organize_and_place_books + dataset_uuid: 6782c838-a0d2-4a8e-a50b-cc092bb2a215 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/organize_books/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_organize_and_place_books + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: organize_and_place_books + dataset_uuid: null + task_descriptions: + - take the book from the table with your left hand and pass it to your right hand. + take the book with your right hand and place it on another book. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: book + level1: office_supplies + level2: book + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 48 + total_frames: 9838 + total_tasks: 1 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:47 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_organize_books.yaml b/dataset_info/AIRBOT_MMK2_organize_books.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dff697ed5f0ecdb6450e07ac0b1727eaf14d8234 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_organize_books.yaml @@ -0,0 +1,931 @@ +dataset_name: organize_books +dataset_uuid: b36aed44-2805-4713-8d48-a14bebf79671 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: book + level1: office_supplies + level2: book + level3: null + level4: null + level5: null +- object_name: bookshelf + level1: container + level2: bookshelf + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_organize_books +video_url: ./assets/videos/AIRBOT_MMK2_organize_books.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_organize_books.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 439.6MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 9576 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Pick up the book on the table and put it into the bookshelf. +sub_tasks: +- Static +- Grasp the yellow book with the right gripper +- Place the yellow book into the front mezzanine of the bookshelf with the right gripper +- End +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_organize_books_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 92 + dataset_name: organize_books + dataset_uuid: b36aed44-2805-4713-8d48-a14bebf79671 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/the_bookshelf_stores_books/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_organize_books + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: organize_books + dataset_uuid: null + task_descriptions: + - pick up the book on the table with the right hand and put it into the bookshelf. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: book + level1: office_supplies + level2: book + level3: null + level4: null + level5: null + - object_name: bookshelf + level1: container + level2: bookshelf + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 9576 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_place_cookies_and_beer.yaml b/dataset_info/AIRBOT_MMK2_place_cookies_and_beer.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95e1905cb89e9be3143445e8dcc2b289435a55aa --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_place_cookies_and_beer.yaml @@ -0,0 +1,948 @@ +dataset_name: place_cookies_and_beer +dataset_uuid: a380537f-44a3-457c-8113-67604aec65a7 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: biscuit + level1: food + level2: biscuit + level3: null + level4: null + level5: null +- object_name: lid + level1: daily_necessities + level2: lid + level3: null + level4: null + level5: null +- object_name: beer_mug + level1: container + level2: beer_mug + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_place_cookies_and_beer +video_url: ./assets/videos/AIRBOT_MMK2_place_cookies_and_beer.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_place_cookies_and_beer.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 515.1MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 10519 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Pick up the biscuit from the table and place it in the white lid, and put the + beer glass from the table into the white lid. +sub_tasks: +- Grasp the bagged cookies with the left gripper +- End +- Grasp the beer mug with the right gripper +- Place the bagged cookies on the white basket with the left gripper +- Place the beer mug on the white basket with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_place_cookies_and_beer_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 82 + dataset_name: place_cookies_and_beer + dataset_uuid: a380537f-44a3-457c-8113-67604aec65a7 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/snack_and_beer_mug_storage/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_place_cookies_and_beer + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: place_cookies_and_beer + dataset_uuid: null + task_descriptions: + - use your left hand to pick up the biscuit on the table and place it in the white + lid, and with your right hand, put the beer glass from the table into the white + lid. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: biscuit + level1: food + level2: biscuit + level3: null + level4: null + level5: null + - object_name: lid + level1: daily_necessities + level2: lid + level3: null + level4: null + level5: null + - object_name: beer_mug + level1: container + level2: beer_mug + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - discover_robotics_aitbot_mmk2 + end_effector_type: two_finger_gripper + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 10519 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_place_the_basin.yaml b/dataset_info/AIRBOT_MMK2_place_the_basin.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f6784dfb828e5b833da9d6fddb0fc46d4c7dff1e --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_place_the_basin.yaml @@ -0,0 +1,927 @@ +dataset_name: place_the_basin +dataset_uuid: 14a514fa-2a43-4b79-bcf6-c7d01e427623 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: basin + level1: container + level2: basin + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_place_the_basin +video_url: ./assets/videos/AIRBOT_MMK2_place_the_basin.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_place_the_basin.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 272.9MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 7672 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: hold the basin on the table with both hands simultaneously, pick it up and + then put it down. +sub_tasks: +- Static +- Place the basin on the table with the right gripper +- Grasp the basin with the right gripper +- End +- 'Lift the basin with the left gripper ' +- 'Grasp the basin with the left gripper ' +- Lift the basin with the right gripper +- 'Place the basin on the table with the left gripper ' +- Abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_place_the_basin_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 108 + dataset_name: place_the_basin + dataset_uuid: 14a514fa-2a43-4b79-bcf6-c7d01e427623 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/pick_up_and_put_down_the_basin/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_place_the_basin + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: place_the_basin + dataset_uuid: null + task_descriptions: + - hold the basin on the table with both hands simultaneously, pick it up and then + put it down. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: basin + level1: container + level2: basin + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - discover_robotics_aitbot_mmk2 + end_effector_type: two_finger_gripper + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 7672 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_place_the_blue_and_purple_blocks.yaml b/dataset_info/AIRBOT_MMK2_place_the_blue_and_purple_blocks.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8329bd07361c4fa6bdf272e0d10e829d30209b24 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_place_the_blue_and_purple_blocks.yaml @@ -0,0 +1,937 @@ +dataset_name: place_the_blue_and_purple_blocks +dataset_uuid: 515b60a8-59ef-485b-bd22-34f963fd853c +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: square + level1: toy + level2: square + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_place_the_blue_and_purple_blocks +video_url: ./assets/videos/AIRBOT_MMK2_place_the_blue_and_purple_blocks.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_place_the_blue_and_purple_blocks.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 502.1MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 10277 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Pick up the purple cube and place it on the plate, then pick up the blue cube + from the table and place it on top of the purple cube. +sub_tasks: +- Grasp the purple cube block with the left gripper +- Grasp the blue cube block with the right gripper +- Place the purple cube block on the plate with the left gripper +- Static +- Place the blue cube block on the purple cube block with the right gripper +- End +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_place_the_blue_and_purple_blocks_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 86 + dataset_name: place_the_blue_and_purple_blocks + dataset_uuid: 515b60a8-59ef-485b-bd22-34f963fd853c + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/square_storage/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_place_the_blue_and_purple_blocks + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: place_the_blue_and_purple_blocks + dataset_uuid: null + task_descriptions: + - pick up the purple cube with your left hand and place it on the plate. use your + right hand to pick up the blue cube on the table and place it on top of the + purple cube. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: square + level1: toy + level2: square + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 10277 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_place_the_books.yaml b/dataset_info/AIRBOT_MMK2_place_the_books.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ded6d7bb35d3e309952e2b417bb9deacc33eef4e --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_place_the_books.yaml @@ -0,0 +1,938 @@ +dataset_name: place_the_books +dataset_uuid: e4617854-ddc2-4d6e-b108-2369485a9167 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +- push +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: book + level1: office_supplies + level2: book + level3: null + level4: null + level5: null +- object_name: bookshelf + level1: container + level2: bookshelf + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_place_the_books +video_url: ./assets/videos/AIRBOT_MMK2_place_the_books.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_place_the_books.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 1.1GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 49 + total_frames: 20564 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:48 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Push the book to one side of the table with one hand, and take it with the + other hand to put it on the bookshelf. +sub_tasks: +- Push the book from right to left with the right gripper +- Grasp the book with the left gripper +- Place the book into the front mezzanine of the bookshelf with the left gripper +- Static +- End +- Abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_place_the_books_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 116 + dataset_name: place_the_books + dataset_uuid: e4617854-ddc2-4d6e-b108-2369485a9167 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_book/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_place_the_books + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: place_the_books + dataset_uuid: null + task_descriptions: + - push the book to the left side of the table with your right hand, and take it + with your left hand to put it on the bookshelf. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + - push + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: book + level1: office_supplies + level2: book + level3: null + level4: null + level5: null + - object_name: bookshelf + level1: container + level2: bookshelf + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 49 + total_frames: 20564 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:48 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_place_the_building_blocks.yaml b/dataset_info/AIRBOT_MMK2_place_the_building_blocks.yaml new file mode 100644 index 0000000000000000000000000000000000000000..654527e0e9344c62f6879999d228a923c1776f1b --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_place_the_building_blocks.yaml @@ -0,0 +1,937 @@ +dataset_name: place_the_building_blocks +dataset_uuid: e309be0e-14ed-4d1a-bef2-0a030776d5f6 +scene_type: +- home +atomic_actions: +- grasp +- open +- hold +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: building_block + level1: toy + level2: building_block + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_place_the_building_blocks +video_url: ./assets/videos/AIRBOT_MMK2_place_the_building_blocks.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_place_the_building_blocks.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 455.5MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 43 + total_frames: 14173 + total_tasks: 1 + total_videos: 172 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:42 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Put the red building blocks into one plate on the table and the green building + blocks into the other plate. +sub_tasks: +- Abnormal +- Place the green cuboid block into the plate with the right gripper +- Static +- Grasp the red cuboid block with the left gripper +- Place the red cuboid block into the plate with the left gripper +- End +- Grasp the green cuboid block with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_place_the_building_blocks_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 118 + dataset_name: place_the_building_blocks + dataset_uuid: e309be0e-14ed-4d1a-bef2-0a030776d5f6 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_building_block/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_place_the_building_blocks + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: place_the_building_blocks + dataset_uuid: null + task_descriptions: + - put the red building blocks into the plate on the table with your left hand + and the green building blocks into the plate with your right hand. + scene_type: + - home + atomic_actions: + - grasp + - open + - hold + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: building_block + level1: toy + level2: building_block + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 43 + total_frames: 14173 + total_tasks: 1 + total_videos: 172 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:42 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_place_the_cake.yaml b/dataset_info/AIRBOT_MMK2_place_the_cake.yaml new file mode 100644 index 0000000000000000000000000000000000000000..93b639fbb595c8e5cd83805a9510da35a3a54414 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_place_the_cake.yaml @@ -0,0 +1,1033 @@ +dataset_name: place_the_cake +dataset_uuid: 9dd9223d-2d05-47a8-bfd0-0884a7f571ed +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: cake + level1: food + level2: cake + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: building_blocks + level1: toy + level2: building_blocks + level3: null + level4: null + level5: null +- object_name: ice_cream + level1: food + level2: ice_cream + level3: null + level4: null + level5: null +- object_name: small_basin + level1: container + level2: small_basin + level3: null + level4: null + level5: null +- object_name: lid + level1: container + level2: lid + level3: null + level4: null + level5: null +- object_name: swiss_roll + level1: food + level2: swiss_roll + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_place_the_cake +video_url: ./assets/videos/AIRBOT_MMK2_place_the_cake.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_place_the_cake.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 2.3GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 249 + total_frames: 50001 + total_tasks: 5 + total_videos: 996 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:248 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up one cake from the table and place it on the yellow cube, then pick + up another cake from the table and place it on the blue cube. + + Pick up one cake from the table and put it in the white lid, then pick up the ice + cream from the table and put it in the white lid, and finally pick up another cake + from the table and put it in the white lid. + + Pick up the cake and place it on the plate, then pick up that cake from the plate + and put it back on the table. + + Pick up one ice cream and put it in the small white basin, then pick up another + ice cream and put it in the small white basin. + + Pick up one swiss roll and put it on the plate, then pick up another swiss roll + and put it on the plate.' +sub_tasks: +- Place the cake on the yellow cube block with the left gripper +- Grasp the bagged cake with the left gripper +- Grasp the cake on the plate with the right gripper +- Place the cake on the table with the right gripper +- Abnormal +- Static +- Grasp the cake with the left gripper +- Place the ice cream into the white basket with the right gripper +- Place the cake into the white basket with the left gripper +- Place the ice cream into the white basket with the left gripper +- Grasp the ice cream with the right gripper +- Grasp the ice cream with the left gripper +- Grasp the bagged cake with the right gripper +- Place the cake into the white plate with the left gripper +- Place the bagged cake on the white plate with the left gripper +- End +- Grasp the cake with the right gripper +- Place the bagged cake on the white plate with the right gripper +- Place the cake on the blue cube block with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_place_the_cake_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 113 + dataset_name: place_the_cake + dataset_uuid: 9dd9223d-2d05-47a8-bfd0-0884a7f571ed + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/snack_storage/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_place_the_cake + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: snack_storage + dataset_uuid: null + task_descriptions: + - pick up the cake with your left hand and place it on the plate, then pick up + the cake from the plate with your right hand and put it on the table. + - pick up the cake on the table with your left hand and place it on the yellow + cube, and then pick up another cake on the table with your right hand and place + it on the blue cube. + - pick up the ice cream with your left hand and put it in the small white basin. + then, pick up another ice cream with your right hand and put it in the small + white basin. + - pick up the cake on the table with your left hand and put it in the white lid. + then, pick up the ice cream on the table with your right hand and put it in + the white lid. foodinally, pick up another cake on the table with your left + hand and put it in the white lid. + - pick up the swiss roll with your left hand and put it on the plate, then pick + up another swiss roll with your right hand and put it on the plate. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cake + level1: food + level2: cake + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: building_blocks + level1: toy + level2: building_blocks + level3: null + level4: null + level5: null + - object_name: ice_cream + level1: food + level2: ice_cream + level3: null + level4: null + level5: null + - object_name: small_basin + level1: container + level2: small_basin + level3: null + level4: null + level5: null + - object_name: lid + level1: container + level2: lid + level3: null + level4: null + level5: null + - object_name: swiss_roll + level1: food + level2: swiss_roll + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 249 + total_frames: 50001 + total_tasks: 5 + total_videos: 996 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:248 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_place_the_glasses_case_and_gold_bars.yaml b/dataset_info/AIRBOT_MMK2_place_the_glasses_case_and_gold_bars.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3215444dc10dff7c19f46f921cca9262c39f5b52 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_place_the_glasses_case_and_gold_bars.yaml @@ -0,0 +1,937 @@ +dataset_name: place_the_glasses_case_and_gold_bars +dataset_uuid: fc8bbdff-5847-4a9e-b1c1-634bab1b4ed7 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: glasses_case + level1: container + level2: glasses_case + level3: null + level4: null + level5: null +- object_name: gold_bar + level1: metal + level2: gold_bar + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_place_the_glasses_case_and_gold_bars +video_url: ./assets/videos/AIRBOT_MMK2_place_the_glasses_case_and_gold_bars.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_place_the_glasses_case_and_gold_bars.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 412.7MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 49 + total_frames: 10180 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:48 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Hold the glasses case in the middle of the table with one hand and place the + gold bar on it with your other hand. +sub_tasks: +- Place the glasses case on the middle of the table with the left gripper +- End +- Static +- Place the gold bar on the glasses case with the right gripper +- Grasp the glasses case with the left gripper +- Grasp the gold bar the right gripper +- Abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_place_the_glasses_case_and_gold_bars_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 106 + dataset_name: place_the_glasses_case_and_gold_bars + dataset_uuid: fc8bbdff-5847-4a9e-b1c1-634bab1b4ed7 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/the_glasses_case_and_the_gold_bar_are_stacked_together/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_place_the_glasses_case_and_gold_bars + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: place_the_glasses_case_and_gold_bars + dataset_uuid: null + task_descriptions: + - hold the glasses case in the middle of the table with your left hand and place + the gold bar on the glasses case with your right hand. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: glasses_case + level1: container + level2: glasses_case + level3: null + level4: null + level5: null + - object_name: gold_bar + level1: metal + level2: gold_bar + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 49 + total_frames: 10180 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:48 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_place_the_network_cable_and_mouse_box.yaml b/dataset_info/AIRBOT_MMK2_place_the_network_cable_and_mouse_box.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bab744da42d3f311fe7eda58db3abe23b5211c70 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_place_the_network_cable_and_mouse_box.yaml @@ -0,0 +1,949 @@ +dataset_name: place_the_network_cable_and_mouse_box +dataset_uuid: 0d29b561-c4c2-4fde-ac84-230716315d3f +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: mouse_box + level1: container + level2: mouse_box + level3: null + level4: null + level5: null +- object_name: network_cable + level1: tool + level2: network_cable + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_place_the_network_cable_and_mouse_box +video_url: ./assets/videos/AIRBOT_MMK2_place_the_network_cable_and_mouse_box.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_place_the_network_cable_and_mouse_box.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 473.6MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 46 + total_frames: 11195 + total_tasks: 1 + total_videos: 184 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:45 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Pick up the mouse box and place it into the box, then pick up the blue network + cable and place it into the box. +sub_tasks: +- Grasp the blue network cable with the right gripper +- Place the blue network cable into carton with the right gripper +- Static +- Grasp the mouse box with the left gripper +- Place the mouse box into carton with the left gripper +- End +- Abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_place_the_network_cable_and_mouse_box_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 125 + dataset_name: place_the_network_cable_and_mouse_box + dataset_uuid: 0d29b561-c4c2-4fde-ac84-230716315d3f + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_mouse_box_and_network_cable/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_place_the_network_cable_and_mouse_box + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: place_the_network_cable_and_mouse_box + dataset_uuid: null + task_descriptions: + - put the mouse box into the box with the left hand, and then put the blue network + cable into the box with the right hand. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: mouse_box + level1: container + level2: mouse_box + level3: null + level4: null + level5: null + - object_name: network_cable + level1: tool + level2: network_cable + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 46 + total_frames: 11195 + total_tasks: 1 + total_videos: 184 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:45 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_place_the_paper_drawer.yaml b/dataset_info/AIRBOT_MMK2_place_the_paper_drawer.yaml new file mode 100644 index 0000000000000000000000000000000000000000..772c201cca6e9b2b122a5d540048e01c450dd899 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_place_the_paper_drawer.yaml @@ -0,0 +1,1373 @@ +dataset_name: place_the_paper_drawer +dataset_uuid: 36dde00a-6af9-43ec-9c49-3b938ff6f736 +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: pallet + level1: container + level2: pallet + level3: null + level4: null + level5: null +- object_name: tissue_paper + level1: daily_necessities + level2: tissue_paper + level3: null + level4: null + level5: null +- object_name: calculator_box + level1: container + level2: calculator_box + level3: null + level4: null + level5: null +- object_name: power_bank_box + level1: container + level2: power_bank_box + level3: null + level4: null + level5: null +- object_name: lid + level1: container + level2: lid + level3: null + level4: null + level5: null +- object_name: mineral_water_bottle + level1: container + level2: mineral_water_bottle + level3: null + level4: null + level5: null +- object_name: tape_measure + level1: tools + level2: tape_measure + level3: null + level4: null + level5: null +- object_name: snacks + level1: food + level2: snacks + level3: null + level4: null + level5: null +- object_name: cake + level1: food + level2: cake + level3: null + level4: null + level5: null +- object_name: croissant + level1: food + level2: croissant + level3: null + level4: null + level5: null +- object_name: apple + level1: fruit + level2: apple + level3: null + level4: null + level5: null +- object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null +- object_name: pear + level1: fruit + level2: pear + level3: null + level4: null + level5: null +- object_name: pomegranate + level1: fruit + level2: pomegranate + level3: null + level4: null + level5: null +- object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null +- object_name: beverage + level1: juice + level2: beverage + level3: null + level4: null + level5: null +- object_name: coffee + level1: juice + level2: coffee + level3: null + level4: null + level5: null +- object_name: building_blocks + level1: toy + level2: building_blocks + level3: null + level4: null + level5: null +- object_name: marble + level1: toy + level2: marble + level3: null + level4: null + level5: null +- object_name: toy_car + level1: toy + level2: toy_car + level3: null + level4: null + level5: null +- object_name: frying_pan + level1: container + level2: frying_pan + level3: null + level4: null + level5: null +- object_name: mouse_box + level1: container + level2: mouse_box + level3: null + level4: null + level5: null +- object_name: shark_dagger + level1: toy + level2: shark_dagger + level3: null + level4: null + level5: null +- object_name: sponge + level1: daily_necessities + level2: sponge + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +- object_name: steel_frame + level1: daily_necessities + level2: steel_frame + level3: null + level4: null + level5: null +- object_name: red_cube + level1: block + level2: red_cube + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_place_the_paper_drawer +video_url: ./assets/videos/AIRBOT_MMK2_place_the_paper_drawer.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_place_the_paper_drawer.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 5.8GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 688 + total_frames: 167196 + total_tasks: 15 + total_videos: 2752 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:687 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'pick up the steel frame with both hands and place it on the table. + + Take out two packs of vacuum paper from the white tray one after the other and place + them on the table. + + While picking up the calculator case with one hand, also pick up the power bank + case with the other hand, then place both items one after the other. + + Pick up the mineral water bottle and then the tape measure from the white lid and + place each one on the table. + + Hold the snacks and the box ruler and place them on the platform at the same time. + + Place the apple, then the peach, and finally the pear in their respective positions. + + Place the apple, then the pomegranate, and finally the orange in their respective + positions. + + Take out the drink and then the coffee cup from the white lid and place each one + on the table. + + Pick up the cake from the plate and place it on the table, then pick up the strip-shaped + bread from the table and put it on the plate. + + Take the building blocks and then the bb marbles from the plate and place each one + on the table. + + Take out the green cart and then the yellow cart from the plate and place each one + on the table. + + Push the pan to one side of the table and place it on the red cube. + + Take the mouse box and then the calculator box off the white cover. + + at the same time, both hands picked up the shark dagger on the table and placed + it on the white lid. + + Take the sponge and then the bowl out of the white lid and place each one on the + table.' +sub_tasks: +- Place the pomegranate on the middle of the table with the right gripper +- Place the steel tube on the table with the left gripper +- Grasp the bowl on the white basket and with the right gripper +- Grasp the green rectangular block on the plate with the left gripper +- Place the mineral water on the table with the left gripper +- Place the bagged waffle on the carton with the left gripper +- Place the green rectangular block on the table with the left gripper +- Grasp the tape measure with the right gripper +- Grasp the tissue on the white lid with the left gripper +- Grasp the vitamin B water on the white lid with the left gripper +- Place the shark dagger on the white basket with the right gripper +- Place the tape measure on the table with the right gripper +- Place the tissue on the table with the right gripper +- Place the sponge on the table with the left gripper +- Grasp the apple with the left gripper +- Place the apple on the left side of the table with the left gripper +- Grasp the pear with the right gripper +- Place the pear on the right side of the table with the right gripper +- Place the calculator box into the storage box with the right gripper +- Grasp the coffee on the white lid with the right gripper +- Grasp the bread with the right gripper +- Grasp the frying pan with the right gripper +- Grasp the phone case box with the left gripper +- Place the calculator box into the storage box with the left gripper +- Grasp the mouse box on the white lid and with the left gripper +- Grasp the orange with the right gripper +- Place the bowl on the table with the right gripper +- Grasp the pomegranate with the right gripper +- Grasp the tissue on the white lid with the right gripper +- Place the coffee on the table with the right gripper +- Place the bread into the plate with the right gripper +- Grasp the calculator box with the left gripper +- Abnormal +- Grasp the steel tube on the cube block with the right gripper +- Place the vitamin B water on the table with the left gripper +- Grasp the toy car on the plate and with the right gripper +- Grasp the peach with the left gripper +- Place the tape measure on the carton with the right gripper +- Place the phone case box into the storage box with the right gripper +- Grasp the cake on the plate with the left gripper +- Place the phone case box into the storage box with the left gripper +- Grasp the toy car on the plate and with the left gripper +- Grasp the calculator box on the white lid and with the right gripper +- Grasp the shark dagger with the left gripper +- Grasp the bagged waffle with the left gripper +- Grasp the mineral water with the left gripper +- Place the pomegranate on the middle of the table with the left gripper +- Grasp the sponge on the white basket and with the left gripper +- Place the peach on the middle of the table with the left gripper +- Place the shark dagger on the white basket with the left gripper +- Push the frying pan on left to right with the left gripper +- Place the steel tube on the table with the right gripper +- End +- Place the tissue on the table with the left gripper +- Grasp the phone case box with the right gripper +- Place the orange on the right side of the table with the right gripper +- Grasp the shark dagger with the right gripper +- Place the cake on the table with the left gripper +- Place the toy car on the table with the left gripper +- Place the toy car on the table with the right gripper +- Grasp the steel tube on the cube block with the left gripper +- Place the calculator box on the table with the right gripper +- Place the mouse box on the table with the left gripper +- Grasp the bullet on the plate with the right gripper +- Place the frying pan on the red cube block with the right gripper +- Place the coffee on the table with the left gripper +- Grasp the calculator box with the right gripper +- Static +- Place the bullet on the table with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_place_the_paper_drawer_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 110 + dataset_name: place_the_paper_drawer + dataset_uuid: 36dde00a-6af9-43ec-9c49-3b938ff6f736 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/place_goods/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_place_the_paper_drawer + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: place_goods + dataset_uuid: null + task_descriptions: + - take out a pack of tissue paper from the white tray with your left hand and + place it on the table. then, take out another pack of tissue paper from the + white tray with your right hand and place it on the table. + - while picking up the calculator box with the left hand, he also picked up the + power bank box with the right hand. then place your left hand first and then + your right hand. + - pick up the mineral water bottle on the white lid with your left hand and place + it on the table. then, pick up the tape measure on the white lid with your right + hand and put it on the table. + - hold the snacks in your left hand and the tape measure in your right hand, and + place them on the platform at the same time. + - place the apple on the left with your left hand, and then put the peach in the + middle with your left hand. finally, place the pear on the right side with your + right hand. + - place the apple on the left with your left hand, then put the pomegranate in + the middle with your right hand, and finally place the orange on the right with + your right hand. + - take out the beverage from the white lid with your left hand and place it on + the table. then, take out the coffee cup from the white lid with your right + hand and place it on the table. + - pick up the cake from the plate with your left hand and place it on the table. + then, with your right hand, pick up the coissant from the table and put it on + the plate. + - take the building blocks from the plate with your left hand and place them on + the table, then take the marble from the plate with your right hand and put + them on the table. + - take out the green car from the plate with your left hand and place it on the + table, then take out the yellow car from the plate with your right hand and + place it on the table. + - push the pan to the right side of the table with your left hand and place it + on the red cube with your right hand. + - take the mouse box off the white cover with your left hand, and then take the + calculator box off the white cover with your right hand. + - at the same time, both hands picked up the shark dagger on the table and placed + it on the white lid. + - take the sponge out of the white lid with your left hand and place it on the + table. then, take the bowl out of the white lid with your right hand and place + it on the table. + - pick up the steel frame with both hands and place it on the table. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: pallet + level1: container + level2: pallet + level3: null + level4: null + level5: null + - object_name: tissue_paper + level1: daily_necessities + level2: tissue_paper + level3: null + level4: null + level5: null + - object_name: calculator_box + level1: container + level2: calculator_box + level3: null + level4: null + level5: null + - object_name: power_bank_box + level1: container + level2: power_bank_box + level3: null + level4: null + level5: null + - object_name: lid + level1: container + level2: lid + level3: null + level4: null + level5: null + - object_name: mineral_water_bottle + level1: container + level2: mineral_water_bottle + level3: null + level4: null + level5: null + - object_name: tape_measure + level1: tools + level2: tape_measure + level3: null + level4: null + level5: null + - object_name: snacks + level1: food + level2: snacks + level3: null + level4: null + level5: null + - object_name: cake + level1: food + level2: cake + level3: null + level4: null + level5: null + - object_name: croissant + level1: food + level2: croissant + level3: null + level4: null + level5: null + - object_name: apple + level1: fruit + level2: apple + level3: null + level4: null + level5: null + - object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null + - object_name: pear + level1: fruit + level2: pear + level3: null + level4: null + level5: null + - object_name: pomegranate + level1: fruit + level2: pomegranate + level3: null + level4: null + level5: null + - object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null + - object_name: beverage + level1: juice + level2: beverage + level3: null + level4: null + level5: null + - object_name: coffee + level1: juice + level2: coffee + level3: null + level4: null + level5: null + - object_name: building_blocks + level1: toy + level2: building_blocks + level3: null + level4: null + level5: null + - object_name: marble + level1: toy + level2: marble + level3: null + level4: null + level5: null + - object_name: toy_car + level1: toy + level2: toy_car + level3: null + level4: null + level5: null + - object_name: frying_pan + level1: container + level2: frying_pan + level3: null + level4: null + level5: null + - object_name: mouse_box + level1: container + level2: mouse_box + level3: null + level4: null + level5: null + - object_name: shark_dagger + level1: toy + level2: shark_dagger + level3: null + level4: null + level5: null + - object_name: sponge + level1: daily_necessities + level2: sponge + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + - object_name: steel_frame + level1: daily_necessities + level2: steel_frame + level3: null + level4: null + level5: null + - object_name: red_cube + level1: block + level2: red_cube + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 688 + total_frames: 167196 + total_tasks: 15 + total_videos: 2752 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:687 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers.yaml b/dataset_info/AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4d1b1c5befba8a471eaad5ed48d2adbd9bf71adf --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers.yaml @@ -0,0 +1,950 @@ +dataset_name: place_the_piano_and_the_needle-nose_pliers +dataset_uuid: 230992b4-bba2-4f5b-99ce-03e63d148ce1 +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: hand_tapping_the_qin + level1: toy + level2: hand_tapping_the_qin + level3: null + level4: null + level5: null +- object_name: lid + level1: container + level2: lid + level3: null + level4: null + level5: null +- object_name: long-nose_pliers + level1: tool + level2: long-nose_pliers + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers +video_url: ./assets/videos/AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 826.8MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 49 + total_frames: 25318 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:48 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Use one hand to pick up the piano and place it on the white lid, then use your + other hand to pick up the pointed nose pliers and place them on the white lid. +sub_tasks: +- End +- Static +- Place the tongs on the white lid with the right gripper +- Grasp the tongs with the right gripper +- Place the xylophone on the white lid with the left gripper +- Grasp the xylophone with the left gripper +- Abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 127 + dataset_name: place_the_piano_and_the_needle-nose_pliers + dataset_uuid: 230992b4-bba2-4f5b-99ce-03e63d148ce1 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_tools/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: place_the_hand_tapping_the_qin_and_the_long-nose_pliers + dataset_uuid: null + task_descriptions: + - use your left hand to pick up the hand tapping the qin and place it on the white + lid. then, use your right hand to pick up the long-nose pliers and place them + on the white lid. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: hand_tapping_the_qin + level1: toy + level2: hand_tapping_the_qin + level3: null + level4: null + level5: null + - object_name: lid + level1: container + level2: lid + level3: null + level4: null + level5: null + - object_name: long-nose_pliers + level1: tool + level2: long-nose_pliers + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 49 + total_frames: 25318 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:48 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife.yaml b/dataset_info/AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife.yaml new file mode 100644 index 0000000000000000000000000000000000000000..239bdc0f2dcdfba04b1353d3f252a09f722a8b82 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife.yaml @@ -0,0 +1,949 @@ +dataset_name: place_the_pliers_and_wallpaper_knife +dataset_uuid: dc1abf9a-1c9d-43f0-bf5f-2c0f52365a88 +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: pliers + level1: tool + level2: pliers + level3: null + level4: null + level5: null +- object_name: lid + level1: container + level2: lid + level3: null + level4: null + level5: null +- object_name: utility_knife + level1: tool + level2: utility_knife + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife +video_url: ./assets/videos/AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 230.1MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 8236 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Pick up the pliers with one hand and place them in the white lid, then pick + up the wallpaper knife with your other hand and place it in the white lid. +sub_tasks: +- Static +- End +- Place the utility knife into white basket with the right gripper +- Place the plier into white basket with the left gripper +- Abnormal +- Grasp the plier with the left gripper +- Grasp the utility knife with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 132 + dataset_name: place_the_pliers_and_wallpaper_knife + dataset_uuid: dc1abf9a-1c9d-43f0-bf5f-2c0f52365a88 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_tool_pliers_and_utility_knife/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: place_the_pliers_and_wallpaper_knife + dataset_uuid: null + task_descriptions: + - pick up the pliers with your left hand and place them in the white lid. then, + with your right hand, pick up the utility knife and place it in the white lid. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: pliers + level1: tool + level2: pliers + level3: null + level4: null + level5: null + - object_name: lid + level1: container + level2: lid + level3: null + level4: null + level5: null + - object_name: utility_knife + level1: tool + level2: utility_knife + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 8236 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_place_the_shark_toys_and_gold_bars.yaml b/dataset_info/AIRBOT_MMK2_place_the_shark_toys_and_gold_bars.yaml new file mode 100644 index 0000000000000000000000000000000000000000..26ce3836fc8f02719aee93bebe6efab61d40cdf0 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_place_the_shark_toys_and_gold_bars.yaml @@ -0,0 +1,950 @@ +dataset_name: place_the_shark_toys_and_gold_bars +dataset_uuid: 23b13e76-788e-4ea3-a624-4007f8eaa57e +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: shark_doll + level1: toy + level2: shark_doll + level3: null + level4: null + level5: null +- object_name: gold_bar + level1: metal + level2: gold_bar + level3: null + level4: null + level5: null +- object_name: paper_box_lid + level1: daily_necessities + level2: paper_box_lid + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_place_the_shark_toys_and_gold_bars +video_url: ./assets/videos/AIRBOT_MMK2_place_the_shark_toys_and_gold_bars.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_place_the_shark_toys_and_gold_bars.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 277.0MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 6486 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Pick up the shark doll with one hand and put it in the lid of the paper box, + then pick up the gold bar on the table with your other hand and put it in the lid + of the paper box. +sub_tasks: +- End +- Place the whale on the paper box with the left gripper +- Place the gold bar on the paper box with the right gripper +- Grasp the whale with the left gripper +- Static +- Grasp the gold bar with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_place_the_shark_toys_and_gold_bars_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 87 + dataset_name: place_the_shark_toys_and_gold_bars + dataset_uuid: 23b13e76-788e-4ea3-a624-4007f8eaa57e + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/shark_doll_and_gold_bar_storage/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_place_the_shark_toys_and_gold_bars + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: place_the_shark_toys_and_gold_bars + dataset_uuid: null + task_descriptions: + - pick up the shark doll with your left hand and put it in the lid of the paper + box. then, with your right hand, pick up the gold bar on the table and put it + in the lid of the paper box. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: shark_doll + level1: toy + level2: shark_doll + level3: null + level4: null + level5: null + - object_name: gold_bar + level1: metal + level2: gold_bar + level3: null + level4: null + level5: null + - object_name: paper_box_lid + level1: daily_necessities + level2: paper_box_lid + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 6486 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_place_the_small_bowl_of_canned_food.yaml b/dataset_info/AIRBOT_MMK2_place_the_small_bowl_of_canned_food.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3ebd1cf62c154d0c21189a6971b9125191fa692c --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_place_the_small_bowl_of_canned_food.yaml @@ -0,0 +1,934 @@ +dataset_name: place_the_small_bowl_of_canned_food +dataset_uuid: a9c7e711-c375-4aa9-8ce2-93c6f016b80d +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: mini_table + level1: furniture + level2: mini_table + level3: null + level4: null + level5: null +- object_name: small_bowl_of_canned_food + level1: food + level2: small_bowl_of_canned_food + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_place_the_small_bowl_of_canned_food +video_url: ./assets/videos/AIRBOT_MMK2_place_the_small_bowl_of_canned_food.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_place_the_small_bowl_of_canned_food.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 313.5MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 7610 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: The hand picked up the mini bowl of canned food from the table and placed it + on the mini table. +sub_tasks: +- End +- Abnormal +- Place the small bowl of canned food on the table with the right gripper +- Grasp the small bowl of canned food with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_place_the_small_bowl_of_canned_food_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 93 + dataset_name: place_the_small_bowl_of_canned_food + dataset_uuid: a9c7e711-c375-4aa9-8ce2-93c6f016b80d + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/the_small_can_is_placed_on_the_small_table/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_place_the_small_bowl_of_canned_food + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: place_the_small_bowl_of_canned_food + dataset_uuid: null + task_descriptions: + - the right hand picked up the mini bowl of canned food from the table and placed + it on the mini table. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: mini_table + level1: furniture + level2: mini_table + level3: null + level4: null + level5: null + - object_name: small_bowl_of_canned_food + level1: food + level2: small_bowl_of_canned_food + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 7610 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_place_the_sponge_and_wet_wipes.yaml b/dataset_info/AIRBOT_MMK2_place_the_sponge_and_wet_wipes.yaml new file mode 100644 index 0000000000000000000000000000000000000000..68d83767ca7f3db56b270abf79915a535c628964 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_place_the_sponge_and_wet_wipes.yaml @@ -0,0 +1,994 @@ +dataset_name: place_the_sponge_and_wet_wipes +dataset_uuid: ce41bab0-f121-49df-b55f-742a8e05ec09 +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: sponge + level1: daily_necessities + level2: sponge + level3: null + level4: null + level5: null +- object_name: wet_wipes + level1: daily_necessities + level2: wet_wipes + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: mouse_box + level1: container + level2: mouse_box + level3: null + level4: null + level5: null +- object_name: charging_power_bank_box + level1: container + level2: charging_power_bank_box + level3: null + level4: null + level5: null +- object_name: lid + level1: container + level2: lid + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_place_the_sponge_and_wet_wipes +video_url: ./assets/videos/AIRBOT_MMK2_place_the_sponge_and_wet_wipes.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_place_the_sponge_and_wet_wipes.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 390.9MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 90 + total_frames: 10033 + total_tasks: 2 + total_videos: 360 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:89 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'pick up the sponge and wet wipes on the table with both hands and place them + in a white tray. + + Pick up the mouse box and the power bank box on the table with both hands simultaneously + and put them into the white lid.' +sub_tasks: +- 'Grasp the sponge with the left gripper ' +- 'Place the sponge into the white basket with the left gripper ' +- Grasp the mouse box with the left gripper +- Place the wet wipes into the white basket with the right gripper +- Grasp the wet wipes with the right gripper +- Static +- End +- Place the mouse box on the white lid with the left gripper +- Grasp the phone case box with the right gripper +- Place the phone case box on the white lid with the right gripper +- Abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_place_the_sponge_and_wet_wipes_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 102 + dataset_name: place_the_sponge_and_wet_wipes + dataset_uuid: ce41bab0-f121-49df-b55f-742a8e05ec09 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/desktop_cleanup/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_place_the_sponge_and_wet_wipes + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: place_the_sponge_and_wet_wipes + dataset_uuid: null + task_descriptions: + - pick up the sponge and wet wipes on the table with both hands and place them + in a white tray. + - Pick up the mouse box and the power bank box on the table with both hands simultaneously + and put them into the white lid. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: sponge + level1: daily_necessities + level2: sponge + level3: null + level4: null + level5: null + - object_name: wet_wipes + level1: daily_necessities + level2: wet_wipes + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: mouse_box + level1: container + level2: mouse_box + level3: null + level4: null + level5: null + - object_name: charging_power_bank_box + level1: container + level2: charging_power_bank_box + level3: null + level4: null + level5: null + - object_name: lid + level1: container + level2: lid + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - discover_robotics_aitbot_mmk2 + end_effector_type: two_finger_gripper + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 90 + total_frames: 10033 + total_tasks: 2 + total_videos: 360 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:89 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_place_the_umbrella_and_the_ruler.yaml b/dataset_info/AIRBOT_MMK2_place_the_umbrella_and_the_ruler.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cd4db1d833fbd3b1d2488a94c319784bde41e242 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_place_the_umbrella_and_the_ruler.yaml @@ -0,0 +1,949 @@ +dataset_name: place_the_umbrella_and_the_ruler +dataset_uuid: 327b6447-3184-4211-985a-d0c2d279758c +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: umbrella + level1: tool + level2: umbrella + level3: null + level4: null + level5: null +- object_name: lid + level1: container + level2: lid + level3: null + level4: null + level5: null +- object_name: tape_measure + level1: tool + level2: tape_measure + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_place_the_umbrella_and_the_ruler +video_url: ./assets/videos/AIRBOT_MMK2_place_the_umbrella_and_the_ruler.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_place_the_umbrella_and_the_ruler.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 242.5MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 42 + total_frames: 7298 + total_tasks: 1 + total_videos: 168 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:41 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Pick up the small umbrella with one hand and place it in the white lid, then + pick up the measuring ruler with your other hand and place it in the white lid. +sub_tasks: +- Grasp the umbrella with the left gripper +- Grasp the tape measure with the right gripper +- Static +- End +- Place the tape measure in the white basket with the right gripper +- Place the umbrella in the white basket with the left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_place_the_umbrella_and_the_ruler_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 133 + dataset_name: place_the_umbrella_and_the_ruler + dataset_uuid: 327b6447-3184-4211-985a-d0c2d279758c + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_tool_umbrella_and_measuring_tape/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_place_the_umbrella_and_the_ruler + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: place_the_umbrella_and_the_ruler + dataset_uuid: null + task_descriptions: + - pick up the small umbrella with your left hand and place it in the white lid. + then, with your right hand, pick up the tape measure and place it in the white + lid. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: umbrella + level1: tool + level2: umbrella + level3: null + level4: null + level5: null + - object_name: lid + level1: container + level2: lid + level3: null + level4: null + level5: null + - object_name: tape_measure + level1: tool + level2: tape_measure + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 42 + total_frames: 7298 + total_tasks: 1 + total_videos: 168 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:41 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_place_the_yellow_block.yaml b/dataset_info/AIRBOT_MMK2_place_the_yellow_block.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f2414f4e2640afda99b433dc27578983b62f78ab --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_place_the_yellow_block.yaml @@ -0,0 +1,938 @@ +dataset_name: place_the_yellow_block +dataset_uuid: 5627f996-6a84-4ee5-942f-6a546d68645f +scene_type: +- home +atomic_actions: +- grasp +- pick +- lower +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: square_block + level1: toy + level2: square_block + level3: null + level4: null + level5: null +- object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_place_the_yellow_block +video_url: ./assets/videos/AIRBOT_MMK2_place_the_yellow_block.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_place_the_yellow_block.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 501.4MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 47 + total_frames: 10030 + total_tasks: 1 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:46 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Place the yellow square from the table onto the rubik's cube with one hand, + and use your other hand to take the yellow square from the rubik's cube to the table. +sub_tasks: +- Static +- End +- Abnormal +- Grasp the yellow block with left gripper +- Grasp the yellow block on the magic cube with right gripper +- Place the yellow block on the magic cube with left gripper +- Place the yellow block on the table with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_place_the_yellow_block_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 80 + dataset_name: place_the_yellow_block + dataset_uuid: 5627f996-6a84-4ee5-942f-6a546d68645f + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/stack_blocks/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_place_the_yellow_block + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: place_the_yellow_block + dataset_uuid: null + task_descriptions: + - place the yellow square block on the table onto the rubik's cube with your left + hand, and use your right hand to take the yellow square block from the rubik's + cube to the table. + scene_type: + - home + atomic_actions: + - grasp + - pick + - lower + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: square_block + level1: toy + level2: square_block + level3: null + level4: null + level5: null + - object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 47 + total_frames: 10030 + total_tasks: 1 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:46 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_play_the_guitar.yaml b/dataset_info/AIRBOT_MMK2_play_the_guitar.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f4b43b5bd6b46f2da0e824057f3630780af2c941 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_play_the_guitar.yaml @@ -0,0 +1,925 @@ +dataset_name: play_the_guitar +dataset_uuid: cd4b25f6-e84e-4877-95e0-0c865e5b92a6 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +- pull +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: little_guitar + level1: musical_instrument + level2: little_guitar + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_play_the_guitar +video_url: ./assets/videos/AIRBOT_MMK2_play_the_guitar.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_play_the_guitar.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 360.3MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 48 + total_frames: 8574 + total_tasks: 1 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:47 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: hold the small guitar in your lefthand, pluck the strings with your righthand, and + then put down the small guitar with your lefthand. +sub_tasks: +- Play ukulele with the right gripper +- End +- Place the ukulele on the table with the left gripper +- Lift the ukulele with the left gripper +- Grasp the ukulele with the left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_play_the_guitar_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 94 + dataset_name: play_the_guitar + dataset_uuid: cd4b25f6-e84e-4877-95e0-0c865e5b92a6 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/play_the_small_guitar/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_play_the_guitar + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: play_the_guitar + dataset_uuid: null + task_descriptions: + - hold the small guitar in your left hand, pluck the strings with your right hand, and + then put down the small guitar with your left hand. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + - pull + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: little_guitar + level1: musical_instrument + level2: little_guitar + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 48 + total_frames: 8574 + total_tasks: 1 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:47 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_potato_storage.yaml b/dataset_info/AIRBOT_MMK2_potato_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b978bfebc9569ca95f80ec2ab8cff30b6cffb609 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_potato_storage.yaml @@ -0,0 +1,939 @@ +dataset_name: potato_storage +dataset_uuid: 8fcf234f-ff14-4dc4-9bae-a32238fde9ed +scene_type: +- home +- restaurant +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: potato + level1: food + level2: potato + level3: null + level4: null + level5: null +- object_name: compartment + level1: container + level2: compartment + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_potato_storage +video_url: ./assets/videos/AIRBOT_MMK2_potato_storage.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_potato_storage.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 252.5MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 6958 + total_tasks: 2 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Put the potato in the compartment on one side using the hand on that same + side. + + Put the potatoes in the compartment on one side using the hand on that same side.' +sub_tasks: +- End +- Place the potato into the left compartment of the storage box with the left gripper +- Grasp the potato with the left gripper +- Place the potato into the right compartment of the storage box with the right gripper +- Grasp the potato with the right gripper +- Abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_potato_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 111 + dataset_name: potato_storage + dataset_uuid: 8fcf234f-ff14-4dc4-9bae-a32238fde9ed + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/potato_storage/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_potato_storage + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: potato_storage + dataset_uuid: null + task_descriptions: + - put the potato in the right compartment with your right hand. + - put the potatoes in the left compartment with your left hand. + scene_type: + - home + - restaurant + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: potato + level1: food + level2: potato + level3: null + level4: null + level5: null + - object_name: compartment + level1: container + level2: compartment + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 6958 + total_tasks: 2 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_pour_out_the_beauty_blender.yaml b/dataset_info/AIRBOT_MMK2_pour_out_the_beauty_blender.yaml new file mode 100644 index 0000000000000000000000000000000000000000..57aef73e2a60fddbd5c4329f1d3fae0de726e9f0 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_pour_out_the_beauty_blender.yaml @@ -0,0 +1,946 @@ +dataset_name: pour_out_the_beauty_blender +dataset_uuid: 9bd6999e-de56-4b21-b103-e3054f98d4ef +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: marble + level1: toy + level2: marble + level3: null + level4: null + level5: null +- object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_pour_out_the_beauty_blender +video_url: ./assets/videos/AIRBOT_MMK2_pour_out_the_beauty_blender.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_pour_out_the_beauty_blender.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 652.5MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 47 + total_frames: 17577 + total_tasks: 1 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:46 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Pick up the cup and pour the beauty blender inside into the bowl. +sub_tasks: +- Place the paper cup on the table with right gripper +- Pour the bullets from the paper cup into the bowl with right gripper +- Static +- Grasp the paper cup containing bullets with right gripper +- End +- Abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_pour_out_the_beauty_blender_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 115 + dataset_name: pour_out_the_beauty_blender + dataset_uuid: 9bd6999e-de56-4b21-b103-e3054f98d4ef + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_beauty_blender/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_pour_out_the_beauty_blender + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: pour_out_the_marble + dataset_uuid: null + task_descriptions: + - pick up the cup with your right hand and pour the marble inside into the bowl. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: marble + level1: toy + level2: marble + level3: null + level4: null + level5: null + - object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 47 + total_frames: 17577 + total_tasks: 1 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:46 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_pull_the_syringe_piston.yaml b/dataset_info/AIRBOT_MMK2_pull_the_syringe_piston.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a04a105246062986c57b3697fc3fc73e401aa49c --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_pull_the_syringe_piston.yaml @@ -0,0 +1,926 @@ +dataset_name: pull_the_syringe_piston +dataset_uuid: 0dd7afd0-0119-4a2d-a6bf-0eff2463b0bd +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: syringe + level1: medical_supplies + level2: syringe + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_pull_the_syringe_piston +video_url: ./assets/videos/AIRBOT_MMK2_pull_the_syringe_piston.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_pull_the_syringe_piston.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 473.9MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 9990 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Pick up the syringe with one hand, pull the piston away with the other hand, + and then place the syringe back on the table with the first hand. +sub_tasks: +- End +- Grasp the syringe with the left gripper +- Pull the piston with the right gripper +- Lift the syringe with the left gripper +- Grasp the piston with the right gripper +- Place the syringe on the table with the left gripper +- Static +- Abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_pull_the_syringe_piston_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 78 + dataset_name: pull_the_syringe_piston + dataset_uuid: 0dd7afd0-0119-4a2d-a6bf-0eff2463b0bd + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/pull_the_syringe_piston/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_pull_the_syringe_piston + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: pull_the_syringe_piston + dataset_uuid: null + task_descriptions: + - pick up the syringe with your left hand, pull the piston away with your right + hand, and then place the syringe back on the table with your left hand. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: syringe + level1: medical_supplies + level2: syringe + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 9990 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_pumpkin_storage.yaml b/dataset_info/AIRBOT_MMK2_pumpkin_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ac5f1e5d6ce97b44d486d13abc517a66a69b9c7 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_pumpkin_storage.yaml @@ -0,0 +1,935 @@ +dataset_name: pumpkin_storage +dataset_uuid: 591a516b-5f33-44ad-aa8a-b9b96c17194d +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: pumpkin + level1: food + level2: pumpkin + level3: null + level4: null + level5: null +- object_name: cubicle + level1: container + level2: cubicle + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_pumpkin_storage +video_url: ./assets/videos/AIRBOT_MMK2_pumpkin_storage.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_pumpkin_storage.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 462.9MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 49 + total_frames: 12358 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:48 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Throw the pumpkin into the designated compartment with one hand, while keeping + your other hand still. +sub_tasks: +- Static +- Grasp the pumpkin with the right gripper +- End +- Place the pumpkin into the right compartment of the storage box +- Place the pumpkin into the right compartment of the storage box with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_pumpkin_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 67 + dataset_name: pumpkin_storage + dataset_uuid: 591a516b-5f33-44ad-aa8a-b9b96c17194d + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/pumpkin_storage/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_pumpkin_storage + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: pumpkin_storage + dataset_uuid: null + task_descriptions: + - throw the pumpkin into the right compartment with your right hand, while keeping + your left hand still. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: pumpkin + level1: food + level2: pumpkin + level3: null + level4: null + level5: null + - object_name: cubicle + level1: container + level2: cubicle + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 49 + total_frames: 12358 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:48 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_push_building_blocks.yaml b/dataset_info/AIRBOT_MMK2_push_building_blocks.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3baa7c3bce290c5792c612b14f865a8a77d69aa5 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_push_building_blocks.yaml @@ -0,0 +1,928 @@ +dataset_name: push_building_blocks +dataset_uuid: 6428216e-f07b-4971-8ba9-ac3162e1d2b0 +scene_type: +- home +atomic_actions: +- push +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: building_blocks + level1: toy + level2: building_blocks + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_push_building_blocks +video_url: ./assets/videos/AIRBOT_MMK2_push_building_blocks.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_push_building_blocks.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 1.6GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 139 + total_frames: 40790 + total_tasks: 3 + total_videos: 556 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:138 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Push the cylindrical block to one side of the cubic block. + + Push the dark blue and yellow blocks to the upper corner below the arched block. + + Push the arched block upwards.' +sub_tasks: +- Abnormal +- Move the green cylinder to the right side of the box with right gripper +- Move the yellow cube to the upper right side of the box with right gripper +- Move the orange cylinder to the right side of the box with right gripper +- Static +- End +- Move the wooden arched building blocks to the upper right side of the box with right + gripper +- Move the blue cube to the upper right side of the box with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_push_building_blocks_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 114 + dataset_name: push_building_blocks + dataset_uuid: 6428216e-f07b-4971-8ba9-ac3162e1d2b0 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/push_building_blocks/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_push_building_blocks + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: push_building_blocks + dataset_uuid: null + task_descriptions: + - push the cylindrical block to the right of the cubic block with your right hand. + - push the dark blue and yellow blocks to the upper right corner below the arched + block with your right hand. + - push the arched block upwards with your right hand. + scene_type: + - home + atomic_actions: + - push + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: building_blocks + level1: toy + level2: building_blocks + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 139 + total_frames: 40790 + total_tasks: 3 + total_videos: 556 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:138 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_push_piston.yaml b/dataset_info/AIRBOT_MMK2_push_piston.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4e347995b1bdfd4f01a2c4fd169d64e41057f0af --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_push_piston.yaml @@ -0,0 +1,924 @@ +dataset_name: push_piston +dataset_uuid: eef01bf4-6600-4121-9501-b7651d8e26c5 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: syringe + level1: medical_supplies + level2: syringe + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_push_piston +video_url: ./assets/videos/AIRBOT_MMK2_push_piston.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_push_piston.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 598.3MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 47 + total_frames: 15278 + total_tasks: 1 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:46 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Pick up the syringe with your left hand and push the syringe piston in with + your right hand. +sub_tasks: +- Static +- Push the piston with the right gripper +- End +- Grasp the syringe with the left gripper +- Grasp the piston with the right gripper +- Place the syringe on the table with the left gripper +- Lift the syringe with the left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_push_piston_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 85 + dataset_name: push_piston + dataset_uuid: eef01bf4-6600-4121-9501-b7651d8e26c5 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/push_piston/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_push_piston + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: push_piston + dataset_uuid: null + task_descriptions: + - hold the syringe on the table with your left hand and push the plunger with + your right hand. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: syringe + level1: medical_supplies + level2: syringe + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - discover_robotics_aitbot_mmk2 + end_effector_type: two_finger_gripper + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 47 + total_frames: 15278 + total_tasks: 1 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:46 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_screw_the_bottle_cap.yaml b/dataset_info/AIRBOT_MMK2_screw_the_bottle_cap.yaml new file mode 100644 index 0000000000000000000000000000000000000000..59e3b0c8a538e5f74a4a96f49cd0fafc0e6662fd --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_screw_the_bottle_cap.yaml @@ -0,0 +1,924 @@ +dataset_name: screw_the_bottle_cap +dataset_uuid: 311c08d2-fc43-43ec-afbf-f038c651ad6a +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: bottle + level1: container + level2: bottle + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_screw_the_bottle_cap +video_url: ./assets/videos/AIRBOT_MMK2_screw_the_bottle_cap.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_screw_the_bottle_cap.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 632.3MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 16965 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Pick up the water bottle with one hand, twist off the cap with the other, and + place the bottle on the table. +sub_tasks: +- Place the bottle on the table with the left gripper +- Grasp the bottle with the left gripper +- Unscrew the bottle cap with the right hand while holding the bottle with the left + hand +- Lift the bottle up with the left gripper +- End +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_screw_the_bottle_cap_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 95 + dataset_name: screw_the_bottle_cap + dataset_uuid: 311c08d2-fc43-43ec-afbf-f038c651ad6a + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/screw_the_bottle_cap/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_screw_the_bottle_cap + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: screw_the_bottle_cap + dataset_uuid: null + task_descriptions: + - pick up the water bottle with your left hand, twist off the cap with your right + hand, and place the water bottle on the table. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: bottle + level1: container + level2: bottle + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 16965 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_square_arrangement.yaml b/dataset_info/AIRBOT_MMK2_square_arrangement.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8fc418b29b6d8eee2bbb265f18a1a912a2e800d4 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_square_arrangement.yaml @@ -0,0 +1,923 @@ +dataset_name: square_arrangement +dataset_uuid: cd2eedcd-a8fc-496e-96d2-199d2b7e5570 +scene_type: +- home +atomic_actions: +- grasp +- pick +- lower +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: square + level1: toy + level2: square + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_square_arrangement +video_url: ./assets/videos/AIRBOT_MMK2_square_arrangement.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_square_arrangement.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 308.4MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 49 + total_frames: 6572 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:48 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Place the small cubes on each side simultaneously on the large cubes on the + same side. +sub_tasks: +- Grasp the green cube block with the right gripper +- Grasp the blue cube block with the left gripper +- Place the green cube block on the yellow cube block with the right gripper +- Place the blue cube block on the red cube block with the left gripper +- End +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_square_arrangement_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 81 + dataset_name: square_arrangement + dataset_uuid: cd2eedcd-a8fc-496e-96d2-199d2b7e5570 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/square_arrangement/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_square_arrangement + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: square_arrangement + dataset_uuid: null + task_descriptions: + - place the small cubes placed on the left and right sides simultaneously on the + corresponding large cubes on the left and right sides. + scene_type: + - home + atomic_actions: + - grasp + - pick + - lower + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: square + level1: toy + level2: square + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 49 + total_frames: 6572 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:48 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_stacking_blocks.yaml b/dataset_info/AIRBOT_MMK2_stacking_blocks.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4c777ccce9647932d6ade35e259b68d479673b68 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_stacking_blocks.yaml @@ -0,0 +1,971 @@ +dataset_name: stacking_blocks +dataset_uuid: cdff2820-6ed6-414f-add9-1454a57a81b2 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: building_block + level1: toy + level2: building_block + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_stacking_blocks +video_url: ./assets/videos/AIRBOT_MMK2_stacking_blocks.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_stacking_blocks.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 2.2GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 213 + total_frames: 52766 + total_tasks: 5 + total_videos: 852 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:212 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the red rectangular block from one side of the table with one hand + and place it in the center, then pick up the blue hexagonal wooden block from the + other side with your other hand and place it on top of the red block. + + Move the large block from one side to the center with one hand, and stack the small + blocks on top of it with your other hand. + + Pick up a block from the table with one hand and place it on the blocks, then pick + up another block from the table with your other hand and place it on the blocks. + + Pick up the blue cube from one side of the table with one hand and place it on top + of the yellow cube in the middle, then pick up the green cube from the other side + with your other hand and place it on top of the blue cube. + + Pick up the blue cube from the table with one hand and place it on the small table, + then pick up the red cube from the table with your other hand and place it on top + of the blue cube.' +sub_tasks: +- Place the yellow cube on the orange cube with the right gripper +- Static +- Grasp the blue rhombic cuboid block with the right gripper +- Grasp the red cuboid block with the left gripper +- Grasp the blue small cube with the left gripper +- Place the red small cube on the blue small cube with the right gripper +- Place the red cuboid block in the center of view with the left gripper +- Grasp the big red cube with the left gripper +- Abnormal +- Place the orange cube on the yellow cube with the right gripper +- Place the green small cube on the blue small cube with the right gripper +- Grasp the green small cube with the right gripper +- Grasp the red small cube with the right gripper +- Grasp the blue cube with the right gripper +- Place the blue cube on the red cube with the left gripper +- Grasp the orange cube with the right gripper +- Grasp the blue cube with the left gripper +- Place the blue small cube on the small table with the left gripper +- End +- Place the blue rhombic cuboid block on the red cuboid block with the right gripper +- Place the blue small cube on the yellow small cube with the left gripper +- Place the big red cube in the center of view with the left gripper +- Grasp the yellow cube with the right gripper +- Place theblue cube on the big red cube with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_stacking_blocks_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 112 + dataset_name: stacking_blocks + dataset_uuid: cdff2820-6ed6-414f-add9-1454a57a81b2 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/stack_building_blocks/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_stacking_blocks + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: stacking_blocks + dataset_uuid: null + task_descriptions: + - use your left hand to move the large block on the left side to the center, and + use your right hand to stack the small blocks on top of the large block. + - use your left hand to pick up a block from the table and place it on the blocks. + use your right hand to pick up another block from the table and place it on + the blocks. + - use your left hand to pick up the blue cube from the left side of the table + and place it on top of the yellow cube in the middle of the table. use your + right hand to pick up the green cube from the right side of the table and place + it on top of the blue cube. + - pick up the blue cube from the table with your left hand and place it on the + small table. then, pick up the red cube from the table with your right hand + and place it on top of the blue cube. + - use your left hand to pick up the red rectangular block on the left side of + the table and place it in the center of the table. use your right hand to pick + up the blue hexagonal wooden block on the right side of the table and place + it on top of the red rectangular block. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: building_block + level1: toy + level2: building_block + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 213 + total_frames: 52766 + total_tasks: 5 + total_videos: 852 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:212 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_storage_box_for_mouse_and_sponge.yaml b/dataset_info/AIRBOT_MMK2_storage_box_for_mouse_and_sponge.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d941acf55b2101039f03f4d2d832592e617d4448 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_storage_box_for_mouse_and_sponge.yaml @@ -0,0 +1,948 @@ +dataset_name: storage_box_for_mouse_and_sponge +dataset_uuid: 2c6237a9-4c9b-45ce-bd08-c48c42462c93 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: mouse_box + level1: container + level2: mouse_box + level3: null + level4: null + level5: null +- object_name: sponge + level1: daily_necessities + level2: sponge + level3: null + level4: null + level5: null +- object_name: round_plate + level1: container + level2: round_plate + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_storage_box_for_mouse_and_sponge +video_url: ./assets/videos/AIRBOT_MMK2_storage_box_for_mouse_and_sponge.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_storage_box_for_mouse_and_sponge.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 299.3MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 49 + total_frames: 9471 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:48 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Place the mouse box and the sponge in the round plate using one hand. +sub_tasks: +- Grasp the sponge with the right gripper +- Static +- Place the box on the white plate with the left gripper +- End +- Abnormal +- Place the sponge on the white plate with the right gripper +- Grasp the box with the left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_storage_box_for_mouse_and_sponge_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 68 + dataset_name: storage_box_for_mouse_and_sponge + dataset_uuid: 2c6237a9-4c9b-45ce-bd08-c48c42462c93 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/goods_storage/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_storage_box_for_mouse_and_sponge + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: storage_box_for_mouse_and_sponge + dataset_uuid: null + task_descriptions: + - place the mouse box in the round plate with your left hand, put the sponge in + the round plate with your right hand. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: mouse_box + level1: container + level2: mouse_box + level3: null + level4: null + level5: null + - object_name: sponge + level1: daily_necessities + level2: sponge + level3: null + level4: null + level5: null + - object_name: round_plate + level1: container + level2: round_plate + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 49 + total_frames: 9471 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:48 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_storage_computer_box.yaml b/dataset_info/AIRBOT_MMK2_storage_computer_box.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5835eba22e1b259060e5685591e08d4f4a46669d --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_storage_computer_box.yaml @@ -0,0 +1,935 @@ +dataset_name: storage_computer_box +dataset_uuid: dc4fba6b-79c1-4977-a7ad-1b159d434505 +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: calculator_box + level1: container + level2: calculator_box + level3: null + level4: null + level5: null +- object_name: lid + level1: container + level2: lid + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_storage_computer_box +video_url: ./assets/videos/AIRBOT_MMK2_storage_computer_box.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_storage_computer_box.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 363.7MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 10024 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Take the computer box from the table with one hand and transfer it to the other, + then place it inside the white lid. +sub_tasks: +- Place the calculator box into the white basket with the right gripper +- Deliver the calculator box from left gripper to right gripper +- Grasp the calculator box with the left gripper +- End +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_storage_computer_box_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 119 + dataset_name: storage_computer_box + dataset_uuid: dc4fba6b-79c1-4977-a7ad-1b159d434505 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_computer_box/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_storage_computer_box + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: storage_calculator_box + dataset_uuid: null + task_descriptions: + - take the calculator box from the table with your left hand and pass it to your + right hand. take the computer box with your right hand and place it inside the + white lid. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: calculator_box + level1: container + level2: calculator_box + level3: null + level4: null + level5: null + - object_name: lid + level1: container + level2: lid + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 10024 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges.yaml b/dataset_info/AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges.yaml new file mode 100644 index 0000000000000000000000000000000000000000..46738ae7bcaee189ffe842056fce1e489aaf700f --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges.yaml @@ -0,0 +1,1020 @@ +dataset_name: storage_for_building_blocks_and_beauty_sponges +dataset_uuid: be857fee-79ab-4aaa-b319-7037bc68d506 +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: plastic_bullets + level1: toy + level2: plastic_bullets + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: building_blocks + level1: toy + level2: building_blocks + level3: null + level4: null + level5: null +- object_name: sponge + level1: daily_necessities + level2: sponge + level3: null + level4: null + level5: null +- object_name: mouse_box + level1: container + level2: mouse_box + level3: null + level4: null + level5: null +- object_name: beverage + level1: juice + level2: beverage + level3: null + level4: null + level5: null +- object_name: wet_wipes + level1: daily_necessities + level2: wet_wipes + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges +video_url: ./assets/videos/AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 1.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 150 + total_frames: 33906 + total_tasks: 3 + total_videos: 600 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:149 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Take the sponge out of the plate with one hand and place it on the table, + then pick up the mouse box from the table with your other hand and place it on the + plate. + + Take the drink out of the plate with one hand and place it on the table, then pick + up the wet wipes from the table with your other hand and place them on the plate. + + Take the beauty blender out of the plate with one hand and place it on the table, + then pick up the building blocks from the table with your other hand and place them + on the plate.' +sub_tasks: +- Graasp the bullet on the plate and with the left gripper +- Abnormal +- Place the mouse box into the plate with the right gripper +- Grasp the Vitamin B water in the plate with the left gripper +- Place the wet wipes into the plate with the right gripper +- Place the bullet on the table with the left gripper +- Grasp the mouse box with the right gripper +- Place the sponge on the table with the left gripper +- Place the Vitamin B water on the table with the left gripper +- Static +- Graasp the green rectangular block with the right gripper +- End +- Grasp the sponge in the plate with the left gripper +- Grasp the wet wipes with the right gripper +- Place the green rectangular block on the plate with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 109 + dataset_name: storage_for_building_blocks_and_beauty_sponges + dataset_uuid: be857fee-79ab-4aaa-b319-7037bc68d506 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/plate_storage/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: storage_for_building_blocks_and_beauty_sponges + dataset_uuid: null + task_descriptions: + - take the plastic bullets out of the plate with your left hand and place it on + the table; pick up the building blocks from the table with your right hand and + place them on the plate. + - take the sponge out of the plate with your left hand and place it on the table. + pick up the mouse box from the table with your right hand and place it on the + plate. + - take the drink out of the plate with your left hand and place it on the table. + pick up the wet wipes from the table with your right hand and place them on + the plate. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: plastic_bullets + level1: toy + level2: plastic_bullets + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: building_blocks + level1: toy + level2: building_blocks + level3: null + level4: null + level5: null + - object_name: sponge + level1: daily_necessities + level2: sponge + level3: null + level4: null + level5: null + - object_name: mouse_box + level1: container + level2: mouse_box + level3: null + level4: null + level5: null + - object_name: beverage + level1: juice + level2: beverage + level3: null + level4: null + level5: null + - object_name: wet_wipes + level1: daily_necessities + level2: wet_wipes + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 150 + total_frames: 33906 + total_tasks: 3 + total_videos: 600 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:149 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_storage_item.yaml b/dataset_info/AIRBOT_MMK2_storage_item.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ddc42424cb6081017378f8a869086da2c3ad5f1d --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_storage_item.yaml @@ -0,0 +1,962 @@ +dataset_name: storage_item +dataset_uuid: b53b741f-6c4c-401c-a3cf-83ef26539097 +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: building_blocks + level1: toy + level2: building_blocks + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +- object_name: tape_measure + level1: tool + level2: tape_measure + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_storage_item +video_url: ./assets/videos/AIRBOT_MMK2_storage_item.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_storage_item.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 357.6MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 47 + total_frames: 8573 + total_tasks: 1 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:46 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Pick up the building blocks from the table with one hand and place them in + the bowl, then pick up the tape measure from the table with your other hand and + place it in the small tray. +sub_tasks: +- Place the green rectangular block into the blue bowl with the left gripper +- Place the tape measure into the pink plate with the right gripper +- Grasp the tape measure with the right gripper +- Static +- Grasp the green rectangular block with the left gripper +- End +- Abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_storage_item_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 72 + dataset_name: storage_item + dataset_uuid: b53b741f-6c4c-401c-a3cf-83ef26539097 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/summarize_items/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_storage_item + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: storage_item + dataset_uuid: null + task_descriptions: + - pick up the building blocks on the table with your left hand and place them + in the bowl; pick up the tape measure from the table with your right hand and + place it in the small tray. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: building_blocks + level1: toy + level2: building_blocks + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + - object_name: tape_measure + level1: tool + level2: tape_measure + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 47 + total_frames: 8573 + total_tasks: 1 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:46 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle.yaml b/dataset_info/AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle.yaml new file mode 100644 index 0000000000000000000000000000000000000000..46c197e72bae04c2d85fe7b2bbffa838e14e73a3 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle.yaml @@ -0,0 +1,953 @@ +dataset_name: storage_remote_control_clip_box_water_bottle +dataset_uuid: 993b81b9-2ebd-44d7-933c-d6d77b2851db +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: remote_control_gripper + level1: tool + level2: remote_control_gripper + level3: null + level4: null + level5: null +- object_name: mineral_water_bottle + level1: container + level2: mineral_water_bottle + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle +video_url: ./assets/videos/AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 478.8MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 47 + total_frames: 9890 + total_tasks: 1 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:46 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: At the same time as picking up the remote control gripper with one hand, the + other hand picks up the mineral water bottle; the first hand then puts its item + into the box, followed by the other hand doing the same. +sub_tasks: +- Place the water bottle into the cardboard box with the right gripper +- End +- Static +- Lift the water bottle with the right gripper +- 'Grasp the remote control clip with the left gripper ' +- 'Lift the remote control clip with the left gripper ' +- Place the remote control clip into the cardboard box with the left gripper +- Abnormal +- Grasp the water bottle with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 123 + dataset_name: storage_remote_control_clip_box_water_bottle + dataset_uuid: 993b81b9-2ebd-44d7-933c-d6d77b2851db + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_remote_control_gripper_and_mineral_water_bottle/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: storage_remote_control_clip_box_water_bottle + dataset_uuid: null + task_descriptions: + - at the same time as picking up the remote control gripper with the left hand, + the right hand picks up the mineral water bottle. the left hand then puts it + into the box, then the right hand does the same. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: remote_control_gripper + level1: tool + level2: remote_control_gripper + level3: null + level4: null + level5: null + - object_name: mineral_water_bottle + level1: container + level2: mineral_water_bottle + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 47 + total_frames: 9890 + total_tasks: 1 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:46 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_storage_rubiks_cube_and_cup.yaml b/dataset_info/AIRBOT_MMK2_storage_rubiks_cube_and_cup.yaml new file mode 100644 index 0000000000000000000000000000000000000000..df9060220eaa54bd4337c0801c54e6bcbd238179 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_storage_rubiks_cube_and_cup.yaml @@ -0,0 +1,948 @@ +dataset_name: storage_rubiks_cube_and_cup +dataset_uuid: a274e48b-ea08-49bb-a762-da873baef867 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null +- object_name: circular_tray + level1: container + level2: circular_tray + level3: null + level4: null + level5: null +- object_name: paper_cup + level1: container + level2: paper_cup + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_storage_rubiks_cube_and_cup +video_url: ./assets/videos/AIRBOT_MMK2_storage_rubiks_cube_and_cup.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_storage_rubiks_cube_and_cup.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 392.2MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 48 + total_frames: 13979 + total_tasks: 1 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:47 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: One hand places the rubik's cube onto the circular tray while the other places + the paper cup on top of it. +sub_tasks: +- End +- Place the paper cup on the magic cube with the left gripper +- Abnormal +- Grasp the magic cube with the right gripper +- Place the magic cube on the plate with the right gripper +- Grasp the paper cup with the left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_storage_rubiks_cube_and_cup_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 124 + dataset_name: storage_rubiks_cube_and_cup + dataset_uuid: a274e48b-ea08-49bb-a762-da873baef867 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_rubiks_cube_and_cup/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_storage_rubiks_cube_and_cup + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: storage_rubiks_cube_and_cup + dataset_uuid: null + task_descriptions: + - the right hand places the rubik's cube onto the circular tray, the left hand + places the paper cup on top of the rubik's cube. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null + - object_name: circular_tray + level1: container + level2: circular_tray + level3: null + level4: null + level5: null + - object_name: paper_cup + level1: container + level2: paper_cup + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 48 + total_frames: 13979 + total_tasks: 1 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:47 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_storage_spoon.yaml b/dataset_info/AIRBOT_MMK2_storage_spoon.yaml new file mode 100644 index 0000000000000000000000000000000000000000..86451d0b9acdf973edccaa3eaef8b5a5b9e61448 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_storage_spoon.yaml @@ -0,0 +1,935 @@ +dataset_name: storage_spoon +dataset_uuid: d4290af8-7a4d-4868-8a9b-2962225648e8 +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null +- object_name: basin + level1: container + level2: basin + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_storage_spoon +video_url: ./assets/videos/AIRBOT_MMK2_storage_spoon.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_storage_spoon.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 363.2MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 49 + total_frames: 12204 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:48 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Take a spoon in one hand and put it into the basin, then take another spoon + in your other hand and put it into the basin. +sub_tasks: +- Static +- Grasp the spoon with the right gripper +- End +- Grasp the spoon with the left gripper +- Place the spoon into the basin with the right gripper +- Place the spoon into the basin with the left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_storage_spoon_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 126 + dataset_name: storage_spoon + dataset_uuid: d4290af8-7a4d-4868-8a9b-2962225648e8 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_spoon/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_storage_spoon + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: storage_spoon + dataset_uuid: null + task_descriptions: + - take use your left hand to put a spoon into the basin, and then use your right + hand to put another spoon into the basin. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null + - object_name: basin + level1: container + level2: basin + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 49 + total_frames: 12204 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:48 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_storage_tissue_and_milk_carton.yaml b/dataset_info/AIRBOT_MMK2_storage_tissue_and_milk_carton.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d2d92203cd1d3347b5506a79c25cd24f443f497f --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_storage_tissue_and_milk_carton.yaml @@ -0,0 +1,949 @@ +dataset_name: storage_tissue_and_milk_carton +dataset_uuid: 65bf2295-305d-4c59-aac7-0ce3349acaf9 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: tissue_paper + level1: daily_necessities + level2: tissue_paper + level3: null + level4: null + level5: null +- object_name: lid + level1: container + level2: lid + level3: null + level4: null + level5: null +- object_name: milk_carton + level1: container + level2: milk_carton + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_storage_tissue_and_milk_carton +video_url: ./assets/videos/AIRBOT_MMK2_storage_tissue_and_milk_carton.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_storage_tissue_and_milk_carton.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 338.3MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 47 + total_frames: 9751 + total_tasks: 1 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:46 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Place the tissue paper on the white lid with one hand, and with the other hand, + put the milk carton with the straw on top of the white lid. +sub_tasks: +- Abnormal +- Grasp the tissue with the left gripper +- Static +- End +- Place the tissue on the white basket with the left gripper +- Grasp the milk with the right gripper +- Place the milk on the white basket with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_storage_tissue_and_milk_carton_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 128 + dataset_name: storage_tissue_and_milk_carton + dataset_uuid: 65bf2295-305d-4c59-aac7-0ce3349acaf9 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_tissue_and_milk_carton/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_storage_tissue_and_milk_carton + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: storage_tissue_and_milk_carton + dataset_uuid: null + task_descriptions: + - place the tissue paper on the white lid with your left hand, using your right + hand, put the milk carton with the straw on top of the white lid. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: tissue_paper + level1: daily_necessities + level2: tissue_paper + level3: null + level4: null + level5: null + - object_name: lid + level1: container + level2: lid + level3: null + level4: null + level5: null + - object_name: milk_carton + level1: container + level2: milk_carton + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 47 + total_frames: 9751 + total_tasks: 1 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:46 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_storage_tissue_paper.yaml b/dataset_info/AIRBOT_MMK2_storage_tissue_paper.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4a147fae4a1624082d1c17b0a1017ff69fa34b81 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_storage_tissue_paper.yaml @@ -0,0 +1,938 @@ +dataset_name: storage_tissue_paper +dataset_uuid: 22dc3be9-588c-4288-b3a3-5176c69a5f71 +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: tissue_paper + level1: daily_necessities + level2: tissue_paper + level3: null + level4: null + level5: null +- object_name: basin + level1: container + level2: basin + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_storage_tissue_paper +video_url: ./assets/videos/AIRBOT_MMK2_storage_tissue_paper.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_storage_tissue_paper.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 211.2MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 6980 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Pick up one pack of tissue paper from the table and place it in the basin, + then pick up another pack from the table and place it in the basin. +sub_tasks: +- Static +- Place the tissue into the brown basin with the left gripper +- End +- Abnormal +- Place the tissue into the brown basin with the right gripper +- Grasp the tissue with the right gripper +- Grasp the tissue with the left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_storage_tissue_paper_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 129 + dataset_name: storage_tissue_paper + dataset_uuid: 22dc3be9-588c-4288-b3a3-5176c69a5f71 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_tissue_paper/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_storage_tissue_paper + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: storage_tissue_paper + dataset_uuid: null + task_descriptions: + - pick up the tissue paper from the table with your left hand and place it in + the basin. then, pick up another pack of tissue paper from the table with your + right hand and place it in the basin. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: tissue_paper + level1: daily_necessities + level2: tissue_paper + level3: null + level4: null + level5: null + - object_name: basin + level1: container + level2: basin + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 6980 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_storage_toy_cars_and_cookies.yaml b/dataset_info/AIRBOT_MMK2_storage_toy_cars_and_cookies.yaml new file mode 100644 index 0000000000000000000000000000000000000000..482f97175aea18db946533d8ad8be19840356037 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_storage_toy_cars_and_cookies.yaml @@ -0,0 +1,950 @@ +dataset_name: storage_toy_cars_and_cookies +dataset_uuid: 47323a9b-f930-4dcb-b755-7483052a8032 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: toy_car + level1: toy + level2: toy_car + level3: null + level4: null + level5: null +- object_name: cookies + level1: food + level2: cookies + level3: null + level4: null + level5: null +- object_name: lid + level1: daily necessities + level2: lid + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_storage_toy_cars_and_cookies +video_url: ./assets/videos/AIRBOT_MMK2_storage_toy_cars_and_cookies.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_storage_toy_cars_and_cookies.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 277.6MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 8388 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Pick up the red toy car in one hand and the blue packaged cookies in the other, + then place both items on the round lid. +sub_tasks: +- Abnormal +- Place the cookies on the pink plate with the right gripper +- Place the toy car on the pink plate with the left gripper +- Static +- Grasp the toy car with left gripper and grasp the cookies with the right gripper +- End +- Lift the toy car with left gripper and lift the cookies with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_storage_toy_cars_and_cookies_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 130 + dataset_name: storage_toy_cars_and_cookies + dataset_uuid: 47323a9b-f930-4dcb-b755-7483052a8032 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_toy_cars_and_cookies/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_storage_toy_cars_and_cookies + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: storage_toy_cars_and_cookies + dataset_uuid: null + task_descriptions: + - with the left hand, pick up the red toy car and with the right hand, pick up + the blue packaged cookies, with the left hand, place the red toy car on the + round lid, with the right hand, put the blue packaged cookies on the round lid. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: toy_car + level1: toy + level2: toy_car + level3: null + level4: null + level5: null + - object_name: cookies + level1: food + level2: cookies + level3: null + level4: null + level5: null + - object_name: lid + level1: daily necessities + level2: lid + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: two_finger_gripper + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 8388 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_storage_wet_tissue_and_building_block.yaml b/dataset_info/AIRBOT_MMK2_storage_wet_tissue_and_building_block.yaml new file mode 100644 index 0000000000000000000000000000000000000000..210157ca1e780aeb2b6738379c653d3da0a053b1 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_storage_wet_tissue_and_building_block.yaml @@ -0,0 +1,949 @@ +dataset_name: storage_wet_tissue_and_building_block +dataset_uuid: 1479380b-b15a-4f01-b1f7-6c3842a45d84 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: wet_tissue + level1: tool + level2: wet_tissue + level3: null + level4: null + level5: null +- object_name: building_block + level1: toy + level2: building_block + level3: null + level4: null + level5: null +- object_name: platform + level1: container + level2: platform + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_storage_wet_tissue_and_building_block +video_url: ./assets/videos/AIRBOT_MMK2_storage_wet_tissue_and_building_block.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_storage_wet_tissue_and_building_block.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 335.2MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 47 + total_frames: 11526 + total_tasks: 1 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:46 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Put the wet wipes into the white platform with one hand, and place the arched + building blocks into the white platform with the other hand. +sub_tasks: +- Place the arch-shaped block on the white board with the right gripper +- Grasp the wet wipe with the left gripper +- Place the wet wipe on the white board with the left gripper +- End +- Grasp the arch-shaped block with the right gripper +- Abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_storage_wet_tissue_and_building_block_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 131 + dataset_name: storage_wet_tissue_and_building_block + dataset_uuid: 1479380b-b15a-4f01-b1f7-6c3842a45d84 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_wet_wipes + _and _arched _building _blocks/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_storage_wet_tissue_and_building_block + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: storage_wet_tissue_and_building_block + dataset_uuid: null + task_descriptions: + - put the wet wipes into the white platform with your left hand, place the arched + building blocks into the white platform with your right hand. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: wet_tissue + level1: tool + level2: wet_tissue + level3: null + level4: null + level5: null + - object_name: building_block + level1: toy + level2: building_block + level3: null + level4: null + level5: null + - object_name: platform + level1: container + level2: platform + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 47 + total_frames: 11526 + total_tasks: 1 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:46 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_store_beauty_blender_and_building_blocks.yaml b/dataset_info/AIRBOT_MMK2_store_beauty_blender_and_building_blocks.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4d8946260dd6c2b952368421b509f42d9766df0e --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_store_beauty_blender_and_building_blocks.yaml @@ -0,0 +1,948 @@ +dataset_name: store_beauty_blender_and_building_blocks +dataset_uuid: fee911a7-d998-45da-b549-b1621ca063be +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: marble + level1: toy + level2: marble + level3: null + level4: null + level5: null +- object_name: building_blocks + level1: toy + level2: building_blocks + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_store_beauty_blender_and_building_blocks +video_url: ./assets/videos/AIRBOT_MMK2_store_beauty_blender_and_building_blocks.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_store_beauty_blender_and_building_blocks.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 300.5MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 9178 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Throw the beauty blender into the bowl with one hand, and then throw the building + blocks into the bowl with the other hand. +sub_tasks: +- Grasp the green cuboid block with the right gripper +- Place the bullet into the bowl with the left gripper +- End +- Grasp the bullet with the left gripper +- Abnormal +- Place the green cuboid block into the bowl with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_store_beauty_blender_and_building_blocks_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 121 + dataset_name: store_beauty_blender_and_building_blocks + dataset_uuid: fee911a7-d998-45da-b549-b1621ca063be + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_items/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_store_beauty_blender_and_building_blocks + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: store_marble_and_building_blocks + dataset_uuid: null + task_descriptions: + - throw the marble into the bowl with your left hand, and then throw the building + blocks into the bowl with your right hand. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: marble + level1: toy + level2: marble + level3: null + level4: null + level5: null + - object_name: building_blocks + level1: toy + level2: building_blocks + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 9178 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_store_coffee_cups.yaml b/dataset_info/AIRBOT_MMK2_store_coffee_cups.yaml new file mode 100644 index 0000000000000000000000000000000000000000..061a452ae25bff3f3ad837847b455265ad5c1175 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_store_coffee_cups.yaml @@ -0,0 +1,935 @@ +dataset_name: store_coffee_cups +dataset_uuid: 38759f00-3a88-419c-b74b-d8a66882a254 +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: coffee_cup + level1: container + level2: coffee_cup + level3: null + level4: null + level5: null +- object_name: basin + level1: container + level2: basin + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_store_coffee_cups +video_url: ./assets/videos/AIRBOT_MMK2_store_coffee_cups.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_store_coffee_cups.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 444.8MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 11166 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Pick up a coffee cup with one hand and place it in the basin; then pick up + another coffee cup with your other hand and place it in the basin. +sub_tasks: +- Grasp the cup the right gripper +- place the cup in the basin use the left gripper +- End +- Grasp the cup the left gripper +- place the cup in the basin use the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_store_coffee_cups_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 70 + dataset_name: store_coffee_cups + dataset_uuid: 38759f00-3a88-419c-b74b-d8a66882a254 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/store_coffee_cups/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_store_coffee_cups + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: store_coffee_cups + dataset_uuid: null + task_descriptions: + - pick up a coffee cup with your left hand and place it in the basin; pick up + another coffee cup with your right hand and place it in the basin. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: coffee_cup + level1: container + level2: coffee_cup + level3: null + level4: null + level5: null + - object_name: basin + level1: container + level2: basin + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 11166 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_store_peaches_and_pears.yaml b/dataset_info/AIRBOT_MMK2_store_peaches_and_pears.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cd2aba4046c6807263754373217e2064e8881202 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_store_peaches_and_pears.yaml @@ -0,0 +1,947 @@ +dataset_name: store_peaches_and_pears +dataset_uuid: c95d9ed0-71ed-4c90-94ec-30af0eb88215 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: peache + level1: fruit + level2: peache + level3: null + level4: null + level5: null +- object_name: pear + level1: fruit + level2: pear + level3: null + level4: null + level5: null +- object_name: compartment + level1: container + level2: compartment + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_store_peaches_and_pears +video_url: ./assets/videos/AIRBOT_MMK2_store_peaches_and_pears.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_store_peaches_and_pears.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 343.0MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 48 + total_frames: 11276 + total_tasks: 1 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:47 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: One hand throws the peach into one compartment while the other hand throws + the pear into the other compartment. +sub_tasks: +- Place the pear into the right compartment of the storage box with the right gripper +- Place the peach into the left compartment of the storage box with the left gripper +- Abnormal +- Grasp a peach with the left gripper +- End +- Grasp a pear with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_store_peaches_and_pears_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 122 + dataset_name: store_peaches_and_pears + dataset_uuid: c95d9ed0-71ed-4c90-94ec-30af0eb88215 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_peaches_and_pears/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_store_peaches_and_pears + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: store_peaches_and_pears + dataset_uuid: null + task_descriptions: + - the left hand throws the peach into the left compartment, the right hand throws + the pear into the right compartment. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: peache + level1: fruit + level2: peache + level3: null + level4: null + level5: null + - object_name: pear + level1: fruit + level2: pear + level3: null + level4: null + level5: null + - object_name: compartment + level1: container + level2: compartment + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 48 + total_frames: 11276 + total_tasks: 1 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:47 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_store_pomegranates_and_mangoes.yaml b/dataset_info/AIRBOT_MMK2_store_pomegranates_and_mangoes.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6a70c0251b6f40940ad6ef40b4477c22a6fb20ff --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_store_pomegranates_and_mangoes.yaml @@ -0,0 +1,949 @@ +dataset_name: store_pomegranates_and_mangoes +dataset_uuid: 40eeb436-8f0b-4ef8-b835-9a9c4e510448 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: pomegranate + level1: fruit + level2: pomegranate + level3: null + level4: null + level5: null +- object_name: compartment + level1: container + level2: compartment + level3: null + level4: null + level5: null +- object_name: mango + level1: fruit + level2: mango + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_store_pomegranates_and_mangoes +video_url: ./assets/videos/AIRBOT_MMK2_store_pomegranates_and_mangoes.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_store_pomegranates_and_mangoes.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 495.0MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 44 + total_frames: 13755 + total_tasks: 1 + total_videos: 176 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:43 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: One hand throws the pomegranate into one compartment while the other hand throws + the mango into the other compartment. +sub_tasks: +- Grasp a mango with the right gripper +- Place the pomegranate into the left compartment of the storage box with the left + gripper +- Place the mango into the right compartment of the storage box with the right gripper +- Static +- End +- Grasp a pomegranate with the left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_store_pomegranates_and_mangoes_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 74 + dataset_name: store_pomegranates_and_mangoes + dataset_uuid: 40eeb436-8f0b-4ef8-b835-9a9c4e510448 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/separate_storage/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_store_pomegranates_and_mangoes + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: store_pomegranates_and_mangoes + dataset_uuid: null + task_descriptions: + - the left hand throws the pomegranate into the left compartment, the right hand + throws the mango into the right compartment. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: pomegranate + level1: fruit + level2: pomegranate + level3: null + level4: null + level5: null + - object_name: compartment + level1: container + level2: compartment + level3: null + level4: null + level5: null + - object_name: mango + level1: fruit + level2: mango + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 44 + total_frames: 13755 + total_tasks: 1 + total_videos: 176 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:43 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_store_wet_wipes_and_bowls.yaml b/dataset_info/AIRBOT_MMK2_store_wet_wipes_and_bowls.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e7a7d07a1a3d58e42bb54391d9834436fe6e2be2 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_store_wet_wipes_and_bowls.yaml @@ -0,0 +1,948 @@ +dataset_name: store_wet_wipes_and_bowls +dataset_uuid: de8bf908-6d6b-42fb-9298-29fa21a3fc8d +scene_type: +- home +atomic_actions: +- grasp +- open +- hold +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +- object_name: wet_tissue + level1: daily_necessities + level2: wet_tissue + level3: null + level4: null + level5: null +- object_name: square_plate + level1: container + level2: square_plate + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_store_wet_wipes_and_bowls +video_url: ./assets/videos/AIRBOT_MMK2_store_wet_wipes_and_bowls.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_store_wet_wipes_and_bowls.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 425.0MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 13058 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Place the large blue bowl on the square plate with one hand and put the wet + wipes into the bowl with the other. +sub_tasks: +- Place the bowl on the plate with the right gripper +- Static +- Grasp the wet wipes with the left gripper +- Grasp the bowl with the right gripper +- End +- Place the wet wipes into the bowl with the left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_store_wet_wipes_and_bowls_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 117 + dataset_name: store_wet_wipes_and_bowls + dataset_uuid: de8bf908-6d6b-42fb-9298-29fa21a3fc8d + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_bowl_and_wet_tissue/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_store_wet_wipes_and_bowls + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: store_wet_wipes_and_bowls + dataset_uuid: null + task_descriptions: + - with the right hand, place the large blue bowl on the square plate, with the + left hand, put the wet wipes into the blue bowl. + scene_type: + - home + atomic_actions: + - grasp + - open + - hold + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + - object_name: wet_tissue + level1: daily_necessities + level2: wet_tissue + level3: null + level4: null + level5: null + - object_name: square_plate + level1: container + level2: square_plate + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 13058 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_take_down_paper_cup.yaml b/dataset_info/AIRBOT_MMK2_take_down_paper_cup.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f3802cc5dd3febb7ac6a68aea42e2d3e6e0c3ecc --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_take_down_paper_cup.yaml @@ -0,0 +1,937 @@ +dataset_name: take_down_paper_cup +dataset_uuid: 0c37ceb8-ce17-4a73-a167-316d17712390 +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: coffee_cup + level1: container + level2: coffee_cup + level3: null + level4: null + level5: null +- object_name: lid + level1: container + level2: lid + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_take_down_paper_cup +video_url: ./assets/videos/AIRBOT_MMK2_take_down_paper_cup.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_take_down_paper_cup.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 224.6MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 46 + total_frames: 7169 + total_tasks: 1 + total_videos: 184 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:45 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Take the white paper cup off the white lid with one hand and the other white + paper cup off with your other hand. +sub_tasks: +- End +- place the cup in the table use the right gripper +- Grasp the cup the left gripper +- place the cup in the table use the left gripper +- Grasp the cup the right gripper +- Abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_take_down_paper_cup_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 76 + dataset_name: take_down_paper_cup + dataset_uuid: 0c37ceb8-ce17-4a73-a167-316d17712390 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/dataset_name + take_down_paper_cup/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_take_down_paper_cup + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: take_down_paper_cup + dataset_uuid: null + task_descriptions: + - take the white coffee cup off the white lid with your left hand and the other + coffee paper cup off with your right hand. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: coffee_cup + level1: container + level2: coffee_cup + level3: null + level4: null + level5: null + - object_name: lid + level1: container + level2: lid + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 46 + total_frames: 7169 + total_tasks: 1 + total_videos: 184 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:45 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_take_down_umbrella_and_mineral_water.yaml b/dataset_info/AIRBOT_MMK2_take_down_umbrella_and_mineral_water.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bfd08e2047005d7de9297b4ba0a2a61d35adb3eb --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_take_down_umbrella_and_mineral_water.yaml @@ -0,0 +1,1041 @@ +dataset_name: take_down_umbrella_and_mineral_water +dataset_uuid: f02d7798-2ef4-4eb5-9f41-d9d908b80510 +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: umbrella + level1: tool + level2: umbrella + level3: null + level4: null + level5: null +- object_name: mineral_water + level1: drink + level2: mineral_water + level3: null + level4: null + level5: null +- object_name: lid + level1: container + level2: lid + level3: null + level4: null + level5: null +- object_name: vitamin_b_water + level1: beverage + level2: vitamin_b_water + level3: null + level4: null + level5: null +- object_name: egg + level1: food + level2: egg + level3: null + level4: null + level5: null +- object_name: cake + level1: food + level2: cake + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +- object_name: building_blocks + level1: toy + level2: building_blocks + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_take_down_umbrella_and_mineral_water +video_url: ./assets/videos/AIRBOT_MMK2_take_down_umbrella_and_mineral_water.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_take_down_umbrella_and_mineral_water.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 1.2GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 212 + total_frames: 31517 + total_tasks: 5 + total_videos: 848 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:211 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'pick up the blue and green cubes from the lid of the paper box simultaneously + with both hands and place them on the table. + + Use one hand to take the white umbrella off the white lid and then use your other + hand to take the mineral water off the white lid. + + Take the vitamin b water off the white cap with one hand, and then take another + vitamin b water off the white cap with your other hand. + + Take out the yellow egg with one hand. + + take the two black cakes out of the white box simultaneously with both hands and + place them on the table.' +sub_tasks: +- Place the cake on the table with the left gripper +- Place the mineral water on the table with the left gripper +- Grasp the umbrella on the white lid with the right gripper +- Grasp the cake from the white basket with the right gripper +- Grasp the vitamin B water on the white lid with the left gripper +- Place the umbrella on the table with the right gripper +- Grasp the blue cube block on the paper box with the left gripper +- Place the green cube block on the table with the right gripper +- End +- Grasp the cake from the white basket with the left gripper +- Place the blue cube block on the table with the left gripper +- Grasp the mineral water on the white lid with the left gripper +- Place the vitamin B water on the table with the right gripper +- Place the vitamin B water on the table with the left gripper +- Static +- Place the cake on the table with the right gripper +- Abnormal +- Grasp the egg from the egg storage box with the right gripper +- Place the egg on the table with the right gripper +- Grasp the vitamin B water on the white lid with the right gripper +- Grasp the green cube block on the paper box with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_take_down_umbrella_and_mineral_water_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 137 + dataset_name: take_down_umbrella_and_mineral_water + dataset_uuid: f02d7798-2ef4-4eb5-9f41-d9d908b80510 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/take_goods/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_take_down_umbrella_and_mineral_water + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: take_down_umbrella_and_mineral_water + dataset_uuid: null + task_descriptions: + - use your right hand to take the white umbrella off the white lid then use your + left hand to take the mineral water off the white lid. + - take the vitamin b water off the white cap with your left hand, and then take + another vitamin b water off the white cap with your right hand. + - take out the yellow egg with your right hand. + - take the two black cakes out of the white box simultaneously with both hands + and place them on the table. + - pick up the blue and green cubes from the lid of the paper box simultaneously + with both hands and place them on the table. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: umbrella + level1: tool + level2: umbrella + level3: null + level4: null + level5: null + - object_name: mineral_water + level1: drink + level2: mineral_water + level3: null + level4: null + level5: null + - object_name: lid + level1: container + level2: lid + level3: null + level4: null + level5: null + - object_name: vitamin_b_water + level1: beverage + level2: vitamin_b_water + level3: null + level4: null + level5: null + - object_name: egg + level1: food + level2: egg + level3: null + level4: null + level5: null + - object_name: cake + level1: food + level2: cake + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: building_blocks + level1: toy + level2: building_blocks + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 212 + total_frames: 31517 + total_tasks: 5 + total_videos: 848 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:211 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_take_the_book.yaml b/dataset_info/AIRBOT_MMK2_take_the_book.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ec898a1db057e227eaeab7a18ef6ea25526ec5e8 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_take_the_book.yaml @@ -0,0 +1,930 @@ +dataset_name: take_the_book +dataset_uuid: a04264d7-7e81-40cc-af53-0ec87db1f556 +scene_type: +- home +atomic_actions: +- pick +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: bookshelf + level1: container + level2: bookshelf + level3: null + level4: null + level5: null +- object_name: book + level1: stationery + level2: book + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_take_the_book +video_url: ./assets/videos/AIRBOT_MMK2_take_the_book.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_take_the_book.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 352.3MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 79 + total_frames: 9314 + total_tasks: 2 + total_videos: 316 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:78 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'A hand''s index finger hooked the book "century" off the bookshelf. + + A hand''s index finger hooked the book "letitbe" off the bookshelf.' +sub_tasks: +- Lay the book down with the right gripper +- Hold the book with the right gripper +- Abnormal +- End +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_take_the_book_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 136 + dataset_name: take_the_book + dataset_uuid: a04264d7-7e81-40cc-af53-0ec87db1f556 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/take_the_book/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_take_the_book + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: take_the_book + dataset_uuid: null + task_descriptions: + - the index finger of the right hand hooked the book "century" off the bookshelf. + - the index finger of the right hand hooked the book "letitbe" off the bookshelf. + scene_type: + - home + atomic_actions: + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: bookshelf + level1: container + level2: bookshelf + level3: null + level4: null + level5: null + - object_name: book + level1: stationery + level2: book + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 79 + total_frames: 9314 + total_tasks: 2 + total_videos: 316 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:78 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_the_cup_is_put_into_the_bucket.yaml b/dataset_info/AIRBOT_MMK2_the_cup_is_put_into_the_bucket.yaml new file mode 100644 index 0000000000000000000000000000000000000000..eaee20a37bd9dc394950320dd7823e8c3f9913df --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_the_cup_is_put_into_the_bucket.yaml @@ -0,0 +1,938 @@ +dataset_name: the_cup_is_put_into_the_bucket +dataset_uuid: 3d103654-86bc-4dae-b569-be335fe5d8df +scene_type: +- home +atomic_actions: +- grasp +- open +- hold +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: paper_cup + level1: container + level2: paper_cup + level3: null + level4: null + level5: null +- object_name: bucket + level1: container + level2: bucket + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_the_cup_is_put_into_the_bucket +video_url: ./assets/videos/AIRBOT_MMK2_the_cup_is_put_into_the_bucket.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_the_cup_is_put_into_the_bucket.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 369.4MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 9335 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take the same white paper cup in each hand and put one cup into the yellow + bucket, then put the other cup in. +sub_tasks: +- Lift the cup the right gripper +- Static +- End +- Grasp the cup the right gripper +- Lift the cup the left gripper +- Grasp the cup the left gripper +- place the cup in the yellow basket use the right gripper +- place the cup in the yellow basket use the left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_the_cup_is_put_into_the_bucket_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 120 + dataset_name: the_cup_is_put_into_the_bucket + dataset_uuid: 3d103654-86bc-4dae-b569-be335fe5d8df + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/storage_cup/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_the_cup_is_put_into_the_bucket + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: the_cup_is_put_into_the_bucket + dataset_uuid: null + task_descriptions: + - take the same white paper cup in both hands. put the left hand's cup into the + yellow bucket, then put the right hand's cup in. + scene_type: + - home + atomic_actions: + - grasp + - open + - hold + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: paper_cup + level1: container + level2: paper_cup + level3: null + level4: null + level5: null + - object_name: bucket + level1: container + level2: bucket + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - discover_robotics_aitbot_mmk2 + end_effector_type: two_finger_gripper + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 9335 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AIRBOT_MMK2_toy_storage.yaml b/dataset_info/AIRBOT_MMK2_toy_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..69578b1a62d2d39a2d2ab39420b0c9d93638bd36 --- /dev/null +++ b/dataset_info/AIRBOT_MMK2_toy_storage.yaml @@ -0,0 +1,993 @@ +dataset_name: toy_storage +dataset_uuid: 38eb75f9-27a2-42df-817f-90d75b91a582 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: little_dog_doll + level1: toy + level2: little_dog_doll + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: shark_doll + level1: toy + level2: shark_doll + level3: null + level4: null + level5: null +- object_name: lid + level1: container + level2: lid + level3: null + level4: null + level5: null +- object_name: building_block + level1: toy + level2: building_block + level3: null + level4: null + level5: null +path: AIRBOT_MMK2_toy_storage +video_url: ./assets/videos/AIRBOT_MMK2_toy_storage.mp4 +thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_toy_storage.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 1.1GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: discover_robotics_aitbot_mmk2 +codebase_version: v2.1 +statistics: + total_episodes: 199 + total_frames: 28709 + total_tasks: 4 + total_videos: 796 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:198 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'with both hands, picked up the little dog doll on the white plate and placed + it on the table. + + One hand picked up the shark doll from the table and passed it to the other hand, + which then placed it in the white lid. + + Use one hand to pick up a building block and place it in the pink plate on one side, + and use the other hand to put the remaining building block into the white plate + on the opposite side. + + with both hands, he picked up the shark doll on the table and placed it in the white + lid.' +sub_tasks: +- Grasp the whale with the left gripper +- End +- Place the puppy on the table with the left and right grippers +- Grasp the puppy with the left and right grippers +- Static +- Grasp the large green cube block with the left gripper +- Place the whale on the white lid with the right gripper +- Grasp the large red cube block with the right gripper +- Place the large green cube block on the pink plate with the left gripper +- Place the large red cube block on the white lid with the right gripper +- Deliver the whale from left gripper to right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AIRBOT_MMK2_toy_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 134 + dataset_name: toy_storage + dataset_uuid: 38eb75f9-27a2-42df-817f-90d75b91a582 + device_model: Airbot_MMK2 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/toy_storage/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AIRBOT_MMK2_toy_storage + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: toy_storage + dataset_uuid: null + task_descriptions: + - with both hands, picked up the little dog doll on the white plate and placed + it on the table. + - the left hand picked up the shark doll on the table and handed it to the right + hand, the right hand took the shark doll and placed it in the white lid. + - use your left hand to pick up the building block and place it in the pink plate + on the left, and use your right hand to put the other building block into the + white plate on the right. + - with both hands, he picked up the shark doll on the table and placed it in the + white lid. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: little_dog_doll + level1: toy + level2: little_dog_doll + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: shark_doll + level1: toy + level2: shark_doll + level3: null + level4: null + level5: null + - object_name: lid + level1: container + level2: lid + level3: null + level4: null + level5: null + - object_name: building_block + level1: toy + level2: building_block + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - airbot mmk2 + end_effector_type: five_finger_hand + meta: + robot_type: discover_robotics_aitbot_mmk2 + codebase_version: v2.1 + statistics: + total_episodes: 199 + total_frames: 28709 + total_tasks: 4 + total_videos: 796 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:198 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AgiBot-g1_battery_storage_b.yaml b/dataset_info/AgiBot-g1_battery_storage_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5368183c659fe736ec745108c2d82dff6693fcdc --- /dev/null +++ b/dataset_info/AgiBot-g1_battery_storage_b.yaml @@ -0,0 +1,1261 @@ +dataset_name: battery_storage_b +dataset_uuid: 632c0e2b-a8bb-4e12-9635-82df87be2096 +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +- object_name: battery + level1: electronic_products + level2: battery + level3: null + level4: null + level5: null +path: AgiBot-g1_battery_storage_b +video_url: ./assets/videos/AgiBot-g1_battery_storage_b.mp4 +thumbnail_url: ./assets/thumbnails/AgiBot-g1_battery_storage_b.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 29.6GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: ruantong_a2d +codebase_version: v2.1 +statistics: + total_episodes: 115 + total_frames: 57968 + total_tasks: 1 + total_videos: 920 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:114 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: place the batteries in the box on the table. +sub_tasks: +- Place the power supply on the operating table. +- Grab and lift the power supply from the large box. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_back_left_fisheye_rgb + name: cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_back_right_fisheye_rgb + name: cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_center_fisheye_rgb + name: cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_left_fisheye_rgb + name: cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_fisheye_rgb + name: cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w +action_space: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AgiBot-g1_battery_storage_b_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 478 + dataset_name: battery_storage_b + dataset_uuid: 632c0e2b-a8bb-4e12-9635-82df87be2096 + device_model: ruantong_a2d + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx02/zy/20_备料区场景4/376/A2D0015AC00476/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_battery_storage_b + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: battery_storage_b + dataset_uuid: null + task_descriptions: + - put the battery from the box onto the table. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: battery + level1: electronic_products + level2: battery + level3: null + level4: null + level5: null + -operation_platform_height: null + device_model: + - tianqing_a2d + end_effector_type: two_finger_gripper + meta: + robot_type: ruantong_a2d + codebase_version: v2.1 + statistics: + total_episodes: 115 + total_frames: 57968 + total_tasks: 1 + total_videos: 920 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:114 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AgiBot-g1_battery_storage_c.yaml b/dataset_info/AgiBot-g1_battery_storage_c.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c197eca2fcc43af1d810ee2920727034aafa0ad6 --- /dev/null +++ b/dataset_info/AgiBot-g1_battery_storage_c.yaml @@ -0,0 +1,1264 @@ +dataset_name: battery_storage_c +dataset_uuid: b2a4e622-affe-407e-9e15-b94e3a5cf225 +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +- object_name: battery + level1: electronic_products + level2: battery + level3: null + level4: null + level5: null +path: AgiBot-g1_battery_storage_c +video_url: ./assets/videos/AgiBot-g1_battery_storage_c.mp4 +thumbnail_url: ./assets/thumbnails/AgiBot-g1_battery_storage_c.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 18.3GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: ruantong_a2d +codebase_version: v2.1 +statistics: + total_episodes: 57 + total_frames: 34166 + total_tasks: 1 + total_videos: 456 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:56 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: place the batteries in the box on the table. +sub_tasks: +- End +- Grab and lift the power supply from the large box. +- Place the battery on the shelf +- Grasp the battery +- Place the power supply on the operating table. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_back_left_fisheye_rgb + name: cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_back_right_fisheye_rgb + name: cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_center_fisheye_rgb + name: cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_left_fisheye_rgb + name: cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_fisheye_rgb + name: cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w +action_space: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AgiBot-g1_battery_storage_c_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 476 + dataset_name: battery_storage_c + dataset_uuid: b2a4e622-affe-407e-9e15-b94e3a5cf225 + device_model: ruantong_a2d + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx02/zy/21_备料区场景5/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_battery_storage_c + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: battery_storage_c + dataset_uuid: null + task_descriptions: + - place the batteries in the box on the table. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: battery + level1: electronic_products + level2: battery + level3: null + level4: null + level5: null + -operation_platform_height: null + device_model: + - ruantong_a2d + end_effector_type: two_finger_gripper + meta: + robot_type: ruantong_a2d + codebase_version: v2.1 + statistics: + total_episodes: 57 + total_frames: 34166 + total_tasks: 1 + total_videos: 456 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:56 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AgiBot-g1_box_storage_a.yaml b/dataset_info/AgiBot-g1_box_storage_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b509adb54bc8fd8c39831484de75933167558339 --- /dev/null +++ b/dataset_info/AgiBot-g1_box_storage_a.yaml @@ -0,0 +1,1248 @@ +dataset_name: box_storage_a +dataset_uuid: a1e4a24d-cfb7-4719-a86c-d455555bc395 +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +path: AgiBot-g1_box_storage_a +video_url: ./assets/videos/AgiBot-g1_box_storage_a.mp4 +thumbnail_url: ./assets/thumbnails/AgiBot-g1_box_storage_a.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 4.8GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: ruantong_a2d +codebase_version: v2.1 +statistics: + total_episodes: 21 + total_frames: 11770 + total_tasks: 1 + total_videos: 168 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:20 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put the box on the table into the big box. +sub_tasks: +- Place the mouse and the power cord paper box into the container. +- Pick up the mouse and the power cord paper box. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_back_left_fisheye_rgb + name: cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_back_right_fisheye_rgb + name: cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_center_fisheye_rgb + name: cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_left_fisheye_rgb + name: cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_fisheye_rgb + name: cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w +action_space: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AgiBot-g1_box_storage_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 472 + dataset_name: box_storage_a + dataset_uuid: a1e4a24d-cfb7-4719-a86c-d455555bc395 + device_model: ruantong_a2d + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx02/zy/22_下料区场景7/389/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_box_storage_a + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: 21 + yaml: + dataset_name: box_storage_a + dataset_uuid: null + task_descriptions: + - put the box on the table into the big box. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + -operation_platform_height: null + device_model: + - tianqing_a2d + end_effector_type: two_finger_gripper + meta: + robot_type: ruantong_a2d + codebase_version: v2.1 + statistics: + total_episodes: 21 + total_frames: 11770 + total_tasks: 1 + total_videos: 168 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:20 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AgiBot-g1_box_storage_b.yaml b/dataset_info/AgiBot-g1_box_storage_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a72d52a911ad6066d3ccfb1e443569006324d28c --- /dev/null +++ b/dataset_info/AgiBot-g1_box_storage_b.yaml @@ -0,0 +1,1248 @@ +dataset_name: box_storage_b +dataset_uuid: acb66e80-45d3-413b-829d-ca92e763d418 +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +path: AgiBot-g1_box_storage_b +video_url: ./assets/videos/AgiBot-g1_box_storage_b.mp4 +thumbnail_url: ./assets/thumbnails/AgiBot-g1_box_storage_b.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 19.7GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: ruantong_a2d +codebase_version: v2.1 +statistics: + total_episodes: 96 + total_frames: 49301 + total_tasks: 1 + total_videos: 768 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:95 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put the box on the table into the big box. +sub_tasks: +- Place the mouse and the power cord paper box into the container. +- Pick up the mouse and the power cord paper box. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_back_left_fisheye_rgb + name: cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_back_right_fisheye_rgb + name: cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_center_fisheye_rgb + name: cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_left_fisheye_rgb + name: cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_fisheye_rgb + name: cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w +action_space: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AgiBot-g1_box_storage_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 473 + dataset_name: box_storage_b + dataset_uuid: acb66e80-45d3-413b-829d-ca92e763d418 + device_model: ruantong_a2d + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx02/zy/24_下料区场景6/388/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_box_storage_b + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: box_storage_b + dataset_uuid: null + task_descriptions: + - put the box on the table into the big box. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + -operation_platform_height: null + device_model: + - tianqing_a2d + end_effector_type: two_finger_gripper + meta: + robot_type: ruantong_a2d + codebase_version: v2.1 + statistics: + total_episodes: 96 + total_frames: 49301 + total_tasks: 1 + total_videos: 768 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:95 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AgiBot-g1_box_storage_c.yaml b/dataset_info/AgiBot-g1_box_storage_c.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f0c3e942799c21d4ea2c9f2f64af0e0ded00a2a4 --- /dev/null +++ b/dataset_info/AgiBot-g1_box_storage_c.yaml @@ -0,0 +1,1252 @@ +dataset_name: box_storage_c +dataset_uuid: a55ac5d2-061f-4ff3-9670-41aef4e03037 +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +path: AgiBot-g1_box_storage_c +video_url: ./assets/videos/AgiBot-g1_box_storage_c.mp4 +thumbnail_url: ./assets/thumbnails/AgiBot-g1_box_storage_c.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 10.2GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: ruantong_a2d +codebase_version: v2.1 +statistics: + total_episodes: 39 + total_frames: 23361 + total_tasks: 1 + total_videos: 312 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:38 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put the box on the table into the big box. +sub_tasks: +- Pick up the mouse and power cord box. +- Place the mouse and power cord box into the container. +- End +- Place the paper box in the another big box +- Abnormal +- Grasp the paper box +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_back_left_fisheye_rgb + name: cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_back_right_fisheye_rgb + name: cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_center_fisheye_rgb + name: cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_left_fisheye_rgb + name: cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_fisheye_rgb + name: cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w +action_space: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AgiBot-g1_box_storage_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 474 + dataset_name: box_storage_c + dataset_uuid: a55ac5d2-061f-4ff3-9670-41aef4e03037 + device_model: ruantong_a2d + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx02/zy/29_下料区场景3/335/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_box_storage_c + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: box_storage_c + dataset_uuid: null + task_descriptions: + - put the box on the table into the big box. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + -operation_platform_height: null + device_model: + - tianqing_a2d + end_effector_type: two_finger_gripper + meta: + robot_type: ruantong_a2d + codebase_version: v2.1 + statistics: + total_episodes: 39 + total_frames: 23361 + total_tasks: 1 + total_videos: 312 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:38 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AgiBot-g1_box_storage_cardboard_box_a.yaml b/dataset_info/AgiBot-g1_box_storage_cardboard_box_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..092cb77655d17ef193f64ac470067a7f995dd197 --- /dev/null +++ b/dataset_info/AgiBot-g1_box_storage_cardboard_box_a.yaml @@ -0,0 +1,1260 @@ +dataset_name: box_storage_cardboard_box_a +dataset_uuid: 15be5a22-893f-4c6d-8562-afa106f6846f +scene_type: +- home +atomic_actions: +- place +- pick +- grasp +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: paper_box + level1: tool + level2: paper_box + level3: null + level4: null + level5: null +- object_name: carton + level1: tool + level2: carton + level3: null + level4: null + level5: null +path: AgiBot-g1_box_storage_cardboard_box_a +video_url: ./assets/videos/AgiBot-g1_box_storage_cardboard_box_a.mp4 +thumbnail_url: ./assets/thumbnails/AgiBot-g1_box_storage_cardboard_box_a.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 87.9GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: ruantong_a2d +codebase_version: v2.1 +statistics: + total_episodes: 402 + total_frames: 188369 + total_tasks: 1 + total_videos: 3216 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:401 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: using a robotic arm to pick up a cardboard box and palace it the carton. +sub_tasks: +- Place the mouse and the power cord paper box into the container. +- Pick up the mouse and the power cord paper box. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_back_left_fisheye_rgb + name: cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_back_right_fisheye_rgb + name: cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_center_fisheye_rgb + name: cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_left_fisheye_rgb + name: cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_fisheye_rgb + name: cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w +action_space: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AgiBot-g1_box_storage_cardboard_box_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 458 + dataset_name: box_storage_cardboard_box_a + dataset_uuid: 15be5a22-893f-4c6d-8562-afa106f6846f + device_model: ruantong_a2d + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx01/zy/95_下料区场景13/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_box_storage_cardboard_box_a + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: box_storage_cardboard_box_a + dataset_uuid: null + task_descriptions: + - using a robotic arm to pick up a cardboard box and palace it the carton. + scene_type: + - home + atomic_actions: + - place + - pick + - grasp + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: paper_box + level1: tool + level2: paper_box + level4: null + level5: null + - object_name: carton + level1: tool + level2: carton + level3: null + level4: null + level5: null + -operation_platform_height: null + device_model: + - tianqing_a2d + end_effector_type: two_finger_gripper + meta: + robot_type: ruantong_a2d + codebase_version: v2.1 + statistics: + total_episodes: 402 + total_frames: 188369 + total_tasks: 1 + total_videos: 3216 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:401 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AgiBot-g1_box_storage_cardboard_box_b.yaml b/dataset_info/AgiBot-g1_box_storage_cardboard_box_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..87c4a4433534ca98f1d3a71e04d79bb69b12f824 --- /dev/null +++ b/dataset_info/AgiBot-g1_box_storage_cardboard_box_b.yaml @@ -0,0 +1,1260 @@ +dataset_name: box_storage_cardboard_box_b +dataset_uuid: 7e28f5b3-7a48-4d52-b01e-390390932ffd +scene_type: +- home +atomic_actions: +- place +- pick +- grasp +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: paper_box + level1: tool + level2: paper_box + level3: null + level4: null + level5: null +- object_name: carton + level1: tool + level2: carton + level3: null + level4: null + level5: null +path: AgiBot-g1_box_storage_cardboard_box_b +video_url: ./assets/videos/AgiBot-g1_box_storage_cardboard_box_b.mp4 +thumbnail_url: ./assets/thumbnails/AgiBot-g1_box_storage_cardboard_box_b.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 56.9GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: ruantong_a2d +codebase_version: v2.1 +statistics: + total_episodes: 247 + total_frames: 115855 + total_tasks: 1 + total_videos: 1976 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:246 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: using a robotic arm to pick up a cardboard box and palace it the carton. +sub_tasks: +- Place the mouse and the power cord paper box into the container. +- Pick up the mouse and the power cord paper box. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_high_center_fisheye_rgb + name: cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_left_fisheye_rgb + name: cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_fisheye_rgb + name: cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_back_left_fisheye_rgb + name: cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_back_right_fisheye_rgb + name: cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w +action_space: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AgiBot-g1_box_storage_cardboard_box_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 459 + dataset_name: box_storage_cardboard_box_b + dataset_uuid: 7e28f5b3-7a48-4d52-b01e-390390932ffd + device_model: ruantong_a2d + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx01/zy/97_下料区场景14/469/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_box_storage_cardboard_box_b + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: box_storage_cardboard_box_b + dataset_uuid: null + task_descriptions: + - using a robotic arm to pick up a cardboard box and palace it the carton. + scene_type: + - home + atomic_actions: + - place + - pick + - grasp + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: paper_box + level1: tool + level2: paper_box + level4: null + level5: null + - object_name: carton + level1: tool + level2: carton + level3: null + level4: null + level5: null + -operation_platform_height: null + device_model: + - tianqing_a2d + end_effector_type: two_finger_gripper + meta: + robot_type: ruantong_a2d + codebase_version: v2.1 + statistics: + total_episodes: 247 + total_frames: 115855 + total_tasks: 1 + total_videos: 1976 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:246 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AgiBot-g1_box_storage_cardboard_box_c.yaml b/dataset_info/AgiBot-g1_box_storage_cardboard_box_c.yaml new file mode 100644 index 0000000000000000000000000000000000000000..691181458b35f31633d4fb825a7392920af53dd4 --- /dev/null +++ b/dataset_info/AgiBot-g1_box_storage_cardboard_box_c.yaml @@ -0,0 +1,1255 @@ +dataset_name: box_storage_cardboard_box_c +dataset_uuid: f5991bf3-3900-460c-adbd-56e87ac4bbc1 +scene_type: +- home +atomic_actions: +- place +- pick +- grasp +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: carton + level1: container + level2: carton + level3: null + level4: null + level5: null +path: AgiBot-g1_box_storage_cardboard_box_c +video_url: ./assets/videos/AgiBot-g1_box_storage_cardboard_box_c.mp4 +thumbnail_url: ./assets/thumbnails/AgiBot-g1_box_storage_cardboard_box_c.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 109.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: ruantong_a2d +codebase_version: v2.1 +statistics: + total_episodes: 476 + total_frames: 230771 + total_tasks: 1 + total_videos: 3808 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:475 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: using a robotic arm to pick up a cardboard box and palace it the carton. +sub_tasks: +- Place the mouse and the power cord paper box into the container. +- Pick up the mouse and the power cord paper box. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_back_left_fisheye_rgb + name: cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_back_right_fisheye_rgb + name: cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_center_fisheye_rgb + name: cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_left_fisheye_rgb + name: cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_fisheye_rgb + name: cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w +action_space: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AgiBot-g1_box_storage_cardboard_box_c_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 462 + dataset_name: box_storage_cardboard_box_c + dataset_uuid: f5991bf3-3900-460c-adbd-56e87ac4bbc1 + device_model: ruantong_a2d + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx01/zy/101_下料区场景15/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_box_storage_cardboard_box_c + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: box_storage_cardboard_box_c + dataset_uuid: null + task_descriptions: + - using a robotic arm to pick up a cardboard box and place it into the carton. + scene_type: + - home + atomic_actions: + - place + - pick + - grasp + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: carton + level1: container + level2: carton + level3: null + level4: null + level5: null + - .0object_name: carton + level1: container + level2: carton + level3: null + level4: null + level5: null + -operation_platform_height: null + device_model: + - tianqing_a2d + end_effector_type: two_finger_gripper + meta: + robot_type: ruantong_a2d + codebase_version: v2.1 + statistics: + total_episodes: 476 + total_frames: 230771 + total_tasks: 1 + total_videos: 3808 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:475 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AgiBot-g1_box_storage_e.yaml b/dataset_info/AgiBot-g1_box_storage_e.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e8cc02f22fc611d24790d03df8ba8a01098479ef --- /dev/null +++ b/dataset_info/AgiBot-g1_box_storage_e.yaml @@ -0,0 +1,1260 @@ +dataset_name: box_storage_e +dataset_uuid: 6fc368f2-1d50-44e7-ab39-3a3405e14efc +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +- object_name: carton + level1: container + level2: carton + level3: null + level4: null + level5: null +path: AgiBot-g1_box_storage_e +video_url: ./assets/videos/AgiBot-g1_box_storage_e.mp4 +thumbnail_url: ./assets/thumbnails/AgiBot-g1_box_storage_e.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 13.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: ruantong_a2d +codebase_version: v2.1 +statistics: + total_episodes: 58 + total_frames: 33264 + total_tasks: 1 + total_videos: 464 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:57 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: place the small box on the table into the large box on the left. +sub_tasks: +- Place the mouse and the power cord paper box into the container. +- Pick up the mouse and the power cord paper box. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_back_left_fisheye_rgb + name: cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_back_right_fisheye_rgb + name: cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_center_fisheye_rgb + name: cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_left_fisheye_rgb + name: cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_fisheye_rgb + name: cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w +action_space: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AgiBot-g1_box_storage_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 568 + dataset_name: box_storage_e + dataset_uuid: 6fc368f2-1d50-44e7-ab39-3a3405e14efc + device_model: ruantong_a2d + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/gt02/zy/80_下料区场景5/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_box_storage_e + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: box_storage_e + dataset_uuid: null + task_descriptions: + - using a robotic arm to pick up a cardboard box and place it into the carton. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: carton + level1: container + level2: carton + level3: null + level4: null + level5: null + -operation_platform_height: null + device_model: + - tianqing_a2d + end_effector_type: two_finger_gripper + meta: + robot_type: ruantong_a2d + codebase_version: v2.1 + statistics: + total_episodes: 58 + total_frames: 33264 + total_tasks: 1 + total_videos: 464 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:57 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AgiBot-g1_box_storage_part_a.yaml b/dataset_info/AgiBot-g1_box_storage_part_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c9e5a46a23df23f1868ae26116b75c55c46ce3d7 --- /dev/null +++ b/dataset_info/AgiBot-g1_box_storage_part_a.yaml @@ -0,0 +1,1273 @@ +dataset_name: box_storage_part_a +dataset_uuid: 24378624-9647-4aad-82ac-d822bb7bc50d +scene_type: +- factory +atomic_actions: +- place +- pick +- grasp +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: part + level1: tool + level2: part + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +- object_name: tray + level1: container + level2: tray + level3: null + level4: null + level5: null +path: AgiBot-g1_box_storage_part_a +video_url: ./assets/videos/AgiBot-g1_box_storage_part_a.mp4 +thumbnail_url: ./assets/thumbnails/AgiBot-g1_box_storage_part_a.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 105.7GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: ruantong_a2d +codebase_version: v2.1 +statistics: + total_episodes: 335 + total_frames: 205995 + total_tasks: 1 + total_videos: 2680 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:334 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: pick up the parts on the tray and put them in the cardboard box. +sub_tasks: +- Pick up the IO bracket from the container box. +- Place the IO bracket into the ingredient slot. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_back_left_fisheye_rgb + name: cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_back_right_fisheye_rgb + name: cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_center_fisheye_rgb + name: cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_left_fisheye_rgb + name: cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_fisheye_rgb + name: cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w +action_space: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AgiBot-g1_box_storage_part_a_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 466 + dataset_name: box_storage_part_a + dataset_uuid: 24378624-9647-4aad-82ac-d822bb7bc50d + device_model: ruantong_a2d + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx01/zy/104_主机上料工序-IO挡板上料场景1/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_box_storage_part_a + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: box_storage_part_a + dataset_uuid: null + task_descriptions: + - pick up the parts on the tray and put them in the cardboard box. + scene_type: + - factory + atomic_actions: + - place + - pick + - grasp + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: part + level1: tool + level2: part + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: tray + level1: container + level2: tray + level3: null + level4: null + level5: null + -operation_platform_height: null + device_model: + - ruantong_a2d + end_effector_type: two_finger_gripper + meta: + robot_type: ruantong_a2d + codebase_version: v2.1 + statistics: + total_episodes: 335 + total_frames: 205995 + total_tasks: 1 + total_videos: 2680 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:334 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AgiBot-g1_box_storage_tool.yaml b/dataset_info/AgiBot-g1_box_storage_tool.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e954610dc9b3a94beb651dfe6b78c9fa05faf206 --- /dev/null +++ b/dataset_info/AgiBot-g1_box_storage_tool.yaml @@ -0,0 +1,846 @@ +dataset_name: box_storage_tool +dataset_uuid: 4ed6d684-19e6-4881-9b9f-eabbb1a6789d +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +- object_name: tool + level1: tool + level2: tool + level3: null + level4: null + level5: null +path: AgiBot-g1_box_storage_tool +video_url: ./assets/videos/AgiBot-g1_box_storage_tool.mp4 +thumbnail_url: ./assets/thumbnails/AgiBot-g1_box_storage_tool.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 1.2GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: ruantong_a2d +codebase_version: v2.1 +statistics: + total_episodes: 99 + total_frames: 32860 + total_tasks: 1 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:98 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 17 + names: + - robot_joint_3_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 17 + names: + - robot_joint_3_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: Pick up the power cord from the box containing it and place it in another box. +sub_tasks: +- End +- Abnormal +- Grasp the data cable +- Place the data cable in the another box +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 17 + names: + - robot_joint_3_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +action_space: + dtype: float32 + shape: + - 17 + names: + - robot_joint_3_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AgiBot-g1_box_storage_tool_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 451 + dataset_name: box_storage_tool + dataset_uuid: 4ed6d684-19e6-4881-9b9f-eabbb1a6789d + device_model: ruantong_a2d + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/gt02/rt/10_配件小产线上料工序-放电源线场景2/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_box_storage_tool + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + - object_name: tool + level1: tool + level2: tool + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: box_storage_tool + dataset_uuid: null + task_descriptions: + - put the tools in the box. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: tool + level1: tool + level2: tool + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - ruantong_a2d + end_effector_type: two_finger_gripper + meta: + robot_type: ruantong_a2d + codebase_version: v2.1 + statistics: + total_episodes: 99 + total_frames: 32860 + total_tasks: 1 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:98 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 17 + names: + - robot_joint_3_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 17 + names: + - robot_joint_3_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AgiBot-g1_left_capture_part.yaml b/dataset_info/AgiBot-g1_left_capture_part.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aeee8c2a37eb80df553ebf8b1e28912e074dd017 --- /dev/null +++ b/dataset_info/AgiBot-g1_left_capture_part.yaml @@ -0,0 +1,1293 @@ +dataset_name: left_capture_part +dataset_uuid: 66d07878-2211-48d2-8cd0-1df8f2cd83a3 +scene_type: +- factory +atomic_actions: +- grasp +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: part + level1: tool + level2: part + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +- object_name: black_container + level1: container + level2: black_container + level3: null + level4: null + level5: null +path: AgiBot-g1_left_capture_part +video_url: ./assets/videos/AgiBot-g1_left_capture_part.mp4 +thumbnail_url: ./assets/thumbnails/AgiBot-g1_left_capture_part.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 97.3GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: ruantong_a2d +codebase_version: v2.1 +statistics: + total_episodes: 464 + total_frames: 174563 + total_tasks: 1 + total_videos: 3712 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:463 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: Grasp the part with one hand and place it on the black container. +sub_tasks: +- Pick up the front USB bracket from the feeding area. +- Place the front USB bracket into the box. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_high_center_fisheye_rgb + name: cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_left_fisheye_rgb + name: cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_fisheye_rgb + name: cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_back_left_fisheye_rgb + name: cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_back_right_fisheye_rgb + name: cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w +action_space: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AgiBot-g1_left_capture_part_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 444 + dataset_name: left_capture_part + dataset_uuid: 66d07878-2211-48d2-8cd0-1df8f2cd83a3 + device_model: ruantong_a2d + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/gt01/zy/45_上料区-金华场景2/377/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_left_capture_part + scene_types: + - factory + atomic_actions: + - grasp + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: part + level1: tool + level2: part + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + - object_name: black_container + level1: container + level2: black_container + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: left_capture_part + dataset_uuid: null + task_descriptions: + - grasp the part with your left hand and place them on the black container. + scene_type: + - factory + atomic_actions: + - grasp + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: part + level1: tool + level2: part + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + - object_name: black_container + level1: tool + level2: black_container + level3: null + level4: null + operation_platform_height: null + device_model: + - tianqing_a2d + end_effector_type: two_finger_gripper + meta: + robot_type: ruantong_a2d + codebase_version: v2.1 + statistics: + total_episodes: 464 + total_frames: 174563 + total_tasks: 1 + total_videos: 3712 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:463 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AgiBot-g1_mobile_accessory_storage_box_a.yaml b/dataset_info/AgiBot-g1_mobile_accessory_storage_box_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..50446933636debc4aa18bbe102bf3c120a9eea7e --- /dev/null +++ b/dataset_info/AgiBot-g1_mobile_accessory_storage_box_a.yaml @@ -0,0 +1,1261 @@ +dataset_name: mobile_accessory_storage_box_a +dataset_uuid: 811a660c-6371-490a-9141-3019afa0cac2 +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +- object_name: accessories + level1: electronic_products + level2: accessories + level3: null + level4: null + level5: null +path: AgiBot-g1_mobile_accessory_storage_box_a +video_url: ./assets/videos/AgiBot-g1_mobile_accessory_storage_box_a.mp4 +thumbnail_url: ./assets/thumbnails/AgiBot-g1_mobile_accessory_storage_box_a.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 16.7GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: ruantong_a2d +codebase_version: v2.1 +statistics: + total_episodes: 81 + total_frames: 40631 + total_tasks: 1 + total_videos: 648 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:80 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: move the position of the storage box with accessories on the table. +sub_tasks: +- Place the open mouse box onto the operation table. +- Grab and pick up the open mouse box from the accessory packaging area. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_back_left_fisheye_rgb + name: cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_back_right_fisheye_rgb + name: cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_center_fisheye_rgb + name: cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_left_fisheye_rgb + name: cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_fisheye_rgb + name: cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w +action_space: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AgiBot-g1_mobile_accessory_storage_box_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 477 + dataset_name: mobile_accessory_storage_box_a + dataset_uuid: 811a660c-6371-490a-9141-3019afa0cac2 + device_model: ruantong_a2d + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx02/zy/30_配件包装区场景1/354/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_mobile_accessory_storage_box_a + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: mobile_accessory_storage_box_a + dataset_uuid: null + task_descriptions: + - move the position of the storage box with accessories on the table. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: accessories + level1: electronic_products + level2: accessories + level3: null + level4: null + level5: null + -operation_platform_height: null + device_model: + - tianqing_a2d + end_effector_type: two_finger_gripper + meta: + robot_type: ruantong_a2d + codebase_version: v2.1 + statistics: + total_episodes: 81 + total_frames: 40631 + total_tasks: 1 + total_videos: 648 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:80 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AgiBot-g1_mobile_accessory_storage_box_c.yaml b/dataset_info/AgiBot-g1_mobile_accessory_storage_box_c.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b64e75cfe37f9431581dea335e059fb0565db341 --- /dev/null +++ b/dataset_info/AgiBot-g1_mobile_accessory_storage_box_c.yaml @@ -0,0 +1,1266 @@ +dataset_name: mobile_accessory_storage_box_c +dataset_uuid: be27952f-4bad-4014-aaf8-ce6946a852d5 +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +- object_name: accessories + level1: electronic_products + level2: accessories + level3: null + level4: null + level5: null +path: AgiBot-g1_mobile_accessory_storage_box_c +video_url: ./assets/videos/AgiBot-g1_mobile_accessory_storage_box_c.mp4 +thumbnail_url: ./assets/thumbnails/AgiBot-g1_mobile_accessory_storage_box_c.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 13.9GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: ruantong_a2d +codebase_version: v2.1 +statistics: + total_episodes: 40 + total_frames: 28207 + total_tasks: 1 + total_videos: 320 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:39 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: move the position of the storage box with accessories on the table. +sub_tasks: +- Grasp the mouse and data cable +- Place the mouse and data cable in the paper box +- Place the data cable in the paper box +- End +- Grab and pick up the mouse and power cord from the accessory packaging area. +- Abnormal +- Place the mouse and power cord into the box. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_back_left_fisheye_rgb + name: cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_back_right_fisheye_rgb + name: cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_center_fisheye_rgb + name: cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_left_fisheye_rgb + name: cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_fisheye_rgb + name: cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w +action_space: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AgiBot-g1_mobile_accessory_storage_box_c_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 481 + dataset_name: mobile_accessory_storage_box_c + dataset_uuid: be27952f-4bad-4014-aaf8-ce6946a852d5 + device_model: ruantong_a2d + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx02/zy/48_配件包装区场景9/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_mobile_accessory_storage_box_c + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: mobile_accessory_storage_box_c + dataset_uuid: null + task_descriptions: + - grasp data cable left put into box grasp mouse right put into box. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: accessories + level1: electronic_products + level2: accessories + level3: null + level4: null + level5: null + -operation_platform_height: null + device_model: + - tianqing_a2d + end_effector_type: two_finger_gripper + meta: + robot_type: ruantong_a2d + codebase_version: v2.1 + statistics: + total_episodes: 40 + total_frames: 28207 + total_tasks: 1 + total_videos: 320 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:39 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AgiBot-g1_mobile_accessory_storage_box_d.yaml b/dataset_info/AgiBot-g1_mobile_accessory_storage_box_d.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5572a8f4e603411f3df9880798905f04632d15c1 --- /dev/null +++ b/dataset_info/AgiBot-g1_mobile_accessory_storage_box_d.yaml @@ -0,0 +1,1266 @@ +dataset_name: mobile_accessory_storage_box_d +dataset_uuid: add3803d-befc-4ae5-8bc7-b6d81060cdcf +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +- object_name: accessories + level1: electronic_products + level2: accessories + level3: null + level4: null + level5: null +path: AgiBot-g1_mobile_accessory_storage_box_d +video_url: ./assets/videos/AgiBot-g1_mobile_accessory_storage_box_d.mp4 +thumbnail_url: ./assets/thumbnails/AgiBot-g1_mobile_accessory_storage_box_d.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 7.6GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: ruantong_a2d +codebase_version: v2.1 +statistics: + total_episodes: 30 + total_frames: 17860 + total_tasks: 1 + total_videos: 240 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:29 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: move the position of the storage box with accessories on the table. +sub_tasks: +- Grasp the mouse and data cable +- Place the mouse and data cable in the paper box +- End +- Place the mouse in the paper box +- Grab and pick up the mouse and power cord from the accessory packaging area. +- Abnormal +- Place the mouse and power cord into the box. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_back_left_fisheye_rgb + name: cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_back_right_fisheye_rgb + name: cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_center_fisheye_rgb + name: cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_left_fisheye_rgb + name: cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_fisheye_rgb + name: cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w +action_space: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AgiBot-g1_mobile_accessory_storage_box_d_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 483 + dataset_name: mobile_accessory_storage_box_d + dataset_uuid: add3803d-befc-4ae5-8bc7-b6d81060cdcf + device_model: ruantong_a2d + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx02/zy/49_配件包装区场景10/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_mobile_accessory_storage_box_d + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: mobile_accessory_storage_box_d + dataset_uuid: null + task_descriptions: + - move the position of the storage box with accessories on the table. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: accessories + level1: electronic_products + level2: accessories + level3: null + level4: null + level5: null + -operation_platform_height: null + device_model: + - ruantong_a2d + end_effector_type: two_finger_gripper + meta: + robot_type: ruantong_a2d + codebase_version: v2.1 + statistics: + total_episodes: 30 + total_frames: 17860 + total_tasks: 1 + total_videos: 240 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:29 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AgiBot-g1_mobile_accessory_storage_box_e.yaml b/dataset_info/AgiBot-g1_mobile_accessory_storage_box_e.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7163bd46374d716ba4307c416d2b9e2d6f6e173e --- /dev/null +++ b/dataset_info/AgiBot-g1_mobile_accessory_storage_box_e.yaml @@ -0,0 +1,1261 @@ +dataset_name: mobile_accessory_storage_box_e +dataset_uuid: 76ecd9c6-025c-4c06-abcc-de49bc084c86 +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +- object_name: accessories + level1: electronic_products + level2: accessories + level3: null + level4: null + level5: null +path: AgiBot-g1_mobile_accessory_storage_box_e +video_url: ./assets/videos/AgiBot-g1_mobile_accessory_storage_box_e.mp4 +thumbnail_url: ./assets/thumbnails/AgiBot-g1_mobile_accessory_storage_box_e.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 14.5GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: ruantong_a2d +codebase_version: v2.1 +statistics: + total_episodes: 61 + total_frames: 29872 + total_tasks: 1 + total_videos: 488 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:60 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: move the position of the storage box with accessories on the table. +sub_tasks: +- Place the mouse and power cord into the box. +- Simultaneously pick up the mouse and power cord from the accessory packaging area. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_back_left_fisheye_rgb + name: cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_back_right_fisheye_rgb + name: cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_center_fisheye_rgb + name: cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_left_fisheye_rgb + name: cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_fisheye_rgb + name: cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w +action_space: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AgiBot-g1_mobile_accessory_storage_box_e_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 482 + dataset_name: mobile_accessory_storage_box_e + dataset_uuid: 76ecd9c6-025c-4c06-abcc-de49bc084c86 + device_model: ruantong_a2d + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx02/zy/53_配件包装区场景12/390/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_mobile_accessory_storage_box_e + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: mobile_accessory_storage_box_e + dataset_uuid: null + task_descriptions: + - grasp data cable left put into box grasp mouse right put into box. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: accessories + level1: electronic_products + level2: accessories + level3: null + level4: null + level5: null + -operation_platform_height: null + device_model: + - tianqing_a2d + end_effector_type: two_finger_gripper + meta: + robot_type: ruantong_a2d + codebase_version: v2.1 + statistics: + total_episodes: 61 + total_frames: 29872 + total_tasks: 1 + total_videos: 488 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:60 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AgiBot-g1_mobile_accessory_storage_box_f.yaml b/dataset_info/AgiBot-g1_mobile_accessory_storage_box_f.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8b70397341927a6fa007a1bbcd4ebbdf5a6c4aaa --- /dev/null +++ b/dataset_info/AgiBot-g1_mobile_accessory_storage_box_f.yaml @@ -0,0 +1,1261 @@ +dataset_name: mobile_accessory_storage_box_f +dataset_uuid: 52a333b0-b320-467a-a555-12066d086c01 +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +- object_name: accessories + level1: electronic_products + level2: accessories + level3: null + level4: null + level5: null +path: AgiBot-g1_mobile_accessory_storage_box_f +video_url: ./assets/videos/AgiBot-g1_mobile_accessory_storage_box_f.mp4 +thumbnail_url: ./assets/thumbnails/AgiBot-g1_mobile_accessory_storage_box_f.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 12.2GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: ruantong_a2d +codebase_version: v2.1 +statistics: + total_episodes: 68 + total_frames: 31735 + total_tasks: 1 + total_videos: 544 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:67 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: move the position of the storage box with accessories on the table. +sub_tasks: +- Place the mouse and power cord into the box. +- Simultaneously pick up the mouse and power cord from the accessory packaging area. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_back_left_fisheye_rgb + name: cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_back_right_fisheye_rgb + name: cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_center_fisheye_rgb + name: cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_left_fisheye_rgb + name: cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_fisheye_rgb + name: cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w +action_space: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AgiBot-g1_mobile_accessory_storage_box_f_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 486 + dataset_name: mobile_accessory_storage_box_f + dataset_uuid: 52a333b0-b320-467a-a555-12066d086c01 + device_model: ruantong_a2d + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx02/zy/54_配件包装区场景14/362/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_mobile_accessory_storage_box_f + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: mobile_accessory_storage_box_f + dataset_uuid: null + task_descriptions: + - move the position of the storage box with accessories on the table. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: accessories + level1: electronic_products + level2: accessories + level3: null + level4: null + level5: null + -operation_platform_height: null + device_model: + - ruantong_a2d + end_effector_type: two_finger_gripper + meta: + robot_type: ruantong_a2d + codebase_version: v2.1 + statistics: + total_episodes: 68 + total_frames: 31735 + total_tasks: 1 + total_videos: 544 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:67 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AgiBot-g1_pick_up_battery.yaml b/dataset_info/AgiBot-g1_pick_up_battery.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ec7aabd757138516a7e168b10fe7f2e6f0363738 --- /dev/null +++ b/dataset_info/AgiBot-g1_pick_up_battery.yaml @@ -0,0 +1,1260 @@ +dataset_name: pick_up_battery +dataset_uuid: 16b21b98-c079-4363-863b-54db1f5d5ebe +scene_type: +- factory +atomic_actions: +- place +- pick +- grasp +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: carton + level1: container + level2: carton + level3: null + level4: null + level5: null +- object_name: battery + level1: tool + level2: battery + level3: null + level4: null + level5: null +path: AgiBot-g1_pick_up_battery +video_url: ./assets/videos/AgiBot-g1_pick_up_battery.mp4 +thumbnail_url: ./assets/thumbnails/AgiBot-g1_pick_up_battery.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 95.3GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: ruantong_a2d +codebase_version: v2.1 +statistics: + total_episodes: 387 + total_frames: 185469 + total_tasks: 1 + total_videos: 3096 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:386 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: using a robotic arm to pick up battery. +sub_tasks: +- Grab the main unit power supply from the containment box. +- Place the main unit power supply in the designated area. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_back_left_fisheye_rgb + name: cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_back_right_fisheye_rgb + name: cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_center_fisheye_rgb + name: cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_left_fisheye_rgb + name: cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_fisheye_rgb + name: cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w +action_space: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AgiBot-g1_pick_up_battery_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 468 + dataset_name: pick_up_battery + dataset_uuid: 16b21b98-c079-4363-863b-54db1f5d5ebe + device_model: ruantong_a2d + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx01/zy/106_备料工序-电源备料场景1/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_pick_up_battery + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: pick_up_battery + dataset_uuid: null + task_descriptions: + - pick up the battery from the box and put it on the table + scene_type: + - factory + atomic_actions: + - place + - pick + - grasp + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: carton + level1: container + level2: carton + level3: null + level4: null + level5: null + - object_name: battery + level1: tool + level2: battery + level3: null + level4: null + level5: null + -operation_platform_height: null + device_model: + - tianqing_a2d + end_effector_type: two_finger_gripper + meta: + robot_type: ruantong_a2d + codebase_version: v2.1 + statistics: + total_episodes: 387 + total_frames: 185469 + total_tasks: 1 + total_videos: 3096 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:386 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AgiBot-g1_picks_up_battery_a.yaml b/dataset_info/AgiBot-g1_picks_up_battery_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..398f6b4a3041dc1c61ba42396439243e5a88ada4 --- /dev/null +++ b/dataset_info/AgiBot-g1_picks_up_battery_a.yaml @@ -0,0 +1,1262 @@ +dataset_name: picks_up_battery_a +dataset_uuid: 3385f559-eb6d-46ff-94d3-a6b48d250220 +scene_type: +- factory +atomic_actions: +- place +- pick +- grasp +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: carton + level1: container + level2: carton + level3: null + level4: null + level5: null +- object_name: battery + level1: tool + level2: battery + level3: null + level4: null + level5: null +path: AgiBot-g1_picks_up_battery_a +video_url: ./assets/videos/AgiBot-g1_picks_up_battery_a.mp4 +thumbnail_url: ./assets/thumbnails/AgiBot-g1_picks_up_battery_a.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 119.7GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: ruantong_a2d +codebase_version: v2.1 +statistics: + total_episodes: 562 + total_frames: 214263 + total_tasks: 1 + total_videos: 4496 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:561 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: using a robotic arm to pick up battery. +sub_tasks: +- Place the power supply on the operating table. +- Grab and lift the power supply from the large box. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_back_left_fisheye_rgb + name: cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_back_right_fisheye_rgb + name: cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_center_fisheye_rgb + name: cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_left_fisheye_rgb + name: cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_fisheye_rgb + name: cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w +action_space: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AgiBot-g1_picks_up_battery_a_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 457 + dataset_name: picks_up_battery_a + dataset_uuid: 3385f559-eb6d-46ff-94d3-a6b48d250220 + device_model: ruantong_a2d + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx01/zy/88_备料区场景9/448/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_picks_up_battery_a + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: picks_up_battery_a + dataset_uuid: null + task_descriptions: + - use a robotic arm to pick up the battery from the box and place it in the material + preparation area. + scene_type: + - factory + atomic_actions: + - place + - pick + - grasp + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: carton + level1: container + level2: carton + level3: null + level4: null + level5: null + - object_name: battery + level1: tool + level2: battery + level3: null + level4: null + level5: null + -operation_platform_height: null + device_model: + - tianqing_a2d + end_effector_type: two_finger_gripper + meta: + robot_type: ruantong_a2d + codebase_version: v2.1 + statistics: + total_episodes: 562 + total_frames: 214263 + total_tasks: 1 + total_videos: 4496 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:561 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AgiBot-g1_picks_up_battery_b.yaml b/dataset_info/AgiBot-g1_picks_up_battery_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..89a372f28e4847f314699b86cdea186230acc44c --- /dev/null +++ b/dataset_info/AgiBot-g1_picks_up_battery_b.yaml @@ -0,0 +1,1261 @@ +dataset_name: picks_up_battery_b +dataset_uuid: 69e28097-0f6e-4238-8562-b87280af0714 +scene_type: +- factory +atomic_actions: +- place +- pick +- grasp +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: carton + level1: tool + level2: carton + level3: null + level4: null + level5: null +- object_name: battery + level1: tool + level2: battery + level3: null + level4: null + level5: null +path: AgiBot-g1_picks_up_battery_b +video_url: ./assets/videos/AgiBot-g1_picks_up_battery_b.mp4 +thumbnail_url: ./assets/thumbnails/AgiBot-g1_picks_up_battery_b.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 71.4GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: ruantong_a2d +codebase_version: v2.1 +statistics: + total_episodes: 329 + total_frames: 131840 + total_tasks: 1 + total_videos: 2632 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:328 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: using a robotic arm to pick up battery. +sub_tasks: +- Place the power supply on the operating table. +- Grab and lift the power supply from the large box. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_back_left_fisheye_rgb + name: cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_back_right_fisheye_rgb + name: cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_center_fisheye_rgb + name: cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_left_fisheye_rgb + name: cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_fisheye_rgb + name: cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w +action_space: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AgiBot-g1_picks_up_battery_b_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 454 + dataset_name: picks_up_battery_b + dataset_uuid: 69e28097-0f6e-4238-8562-b87280af0714 + device_model: ruantong_a2d + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx01/zy/89_备料区场景10/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_picks_up_battery_b + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: picks_up_battery_b + dataset_uuid: null + task_descriptions: + - take out the battery from the box and place it in the material preparation area + scene_type: + - factory + atomic_actions: + - place + - pick + - grasp + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: carton + level1: tool + level2: carton + level3: null + level4: null + level5: null + - object_name: battery + level1: tool + level2: battery + level3: null + level4: null + level5: null + -operation_platform_height: null + device_model: + - tianqing_a2d + end_effector_type: two_finger_gripper + meta: + robot_type: ruantong_a2d + codebase_version: v2.1 + statistics: + total_episodes: 329 + total_frames: 131840 + total_tasks: 1 + total_videos: 2632 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:328 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AgiBot-g1_picks_up_cardboard_box.yaml b/dataset_info/AgiBot-g1_picks_up_cardboard_box.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6369c96df67b1066bbcdf7d7d313aca37880476 --- /dev/null +++ b/dataset_info/AgiBot-g1_picks_up_cardboard_box.yaml @@ -0,0 +1,1285 @@ +dataset_name: picks_up_cardboard_box +dataset_uuid: d4888396-b8d0-45fe-9fdc-8f4e9300b1fd +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: carton + level1: laboratory_supplies + level2: carton + level3: null + level4: null + level5: null +- object_name: paper_box + level1: laboratory_supplies + level2: paper_box + level3: null + level4: null + level5: null +path: AgiBot-g1_picks_up_cardboard_box +video_url: ./assets/videos/AgiBot-g1_picks_up_cardboard_box.mp4 +thumbnail_url: ./assets/thumbnails/AgiBot-g1_picks_up_cardboard_box.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 59.5GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: ruantong_a2d +codebase_version: v2.1 +statistics: + total_episodes: 277 + total_frames: 149409 + total_tasks: 1 + total_videos: 2216 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:276 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: pick up the small cardboard box and load it into the large cardboard box. +sub_tasks: +- Pick up the mouse and power cord box. +- End +- Place the paper box in the another big box +- Grasp the paper box +- Place the mouse and power cord box into the case. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_high_center_fisheye_rgb + name: cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_left_fisheye_rgb + name: cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_fisheye_rgb + name: cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_back_left_fisheye_rgb + name: cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_back_right_fisheye_rgb + name: cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w +action_space: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AgiBot-g1_picks_up_cardboard_box_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 442 + dataset_name: picks_up_cardboard_box + dataset_uuid: d4888396-b8d0-45fe-9fdc-8f4e9300b1fd + device_model: ruantong_a2d + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/gt01/zy/29_下料区场景3/335/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_picks_up_cardboard_box + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: carton + level1: laboratory_supplies + level2: carton + level3: null + level4: null + level5: null + - object_name: paper_box + level1: laboratory_supplies + level2: paper_box + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: picks_up_cardboard_box + dataset_uuid: null + task_descriptions: + - pick up the small cardboard box and load it into the large cardboard box. + scene_type: + - home + atomic_actions: + - place + - pick + - grasp + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: paper_box + level1: tool + level2: paper_box + level4: null + level5: null + - object_name: carton + level1: tool + level2: carton + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - tianqing_a2d + end_effector_type: two_finger_gripper + meta: + robot_type: ruantong_a2d + codebase_version: v2.1 + statistics: + total_episodes: 277 + total_frames: 149409 + total_tasks: 1 + total_videos: 2216 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:276 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AgiBot-g1_picks_up_parts_a.yaml b/dataset_info/AgiBot-g1_picks_up_parts_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..18b4fa2fb8b1c1377b9868d0122755d2cbbe9cd6 --- /dev/null +++ b/dataset_info/AgiBot-g1_picks_up_parts_a.yaml @@ -0,0 +1,1260 @@ +dataset_name: picks_up_parts_a +dataset_uuid: ffa75a2d-6545-468f-86d7-86ae4766cc5a +scene_type: +- factory +atomic_actions: +- place +- pick +- grasp +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +- object_name: parts + level1: tool + level2: parts + level3: null + level4: null + level5: null +path: AgiBot-g1_picks_up_parts_a +video_url: ./assets/videos/AgiBot-g1_picks_up_parts_a.mp4 +thumbnail_url: ./assets/thumbnails/AgiBot-g1_picks_up_parts_a.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 22.3GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: ruantong_a2d +codebase_version: v2.1 +statistics: + total_episodes: 126 + total_frames: 45417 + total_tasks: 1 + total_videos: 1008 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:125 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: use the mechanical arm to pick up the parts and place them on the table. +sub_tasks: +- Place the hard drive bracket into the box. +- Pick up the hard drive bracket from the feeding area. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_back_left_fisheye_rgb + name: cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_back_right_fisheye_rgb + name: cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_center_fisheye_rgb + name: cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_left_fisheye_rgb + name: cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_fisheye_rgb + name: cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w +action_space: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AgiBot-g1_picks_up_parts_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 463 + dataset_name: picks_up_parts_a + dataset_uuid: ffa75a2d-6545-468f-86d7-86ae4766cc5a + device_model: ruantong_a2d + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx01/zy/99_上料区-金华场景14/476/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_picks_up_parts_a + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: picks_up_parts_a + dataset_uuid: null + task_descriptions: + - use the mechanical arm to pick up the parts and place them on the table. + scene_type: + - factory + atomic_actions: + - place + - pick + - grasp + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + - object_name: parts + level1: tool + level2: parts + level3: null + level4: null + level5: null + -operation_platform_height: null + device_model: + - tianqing_a2d + end_effector_type: two_finger_gripper + meta: + robot_type: ruantong_a2d + codebase_version: v2.1 + statistics: + total_episodes: 126 + total_frames: 45417 + total_tasks: 1 + total_videos: 1008 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:125 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AgiBot-g1_picks_up_parts_b.yaml b/dataset_info/AgiBot-g1_picks_up_parts_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bb6333dc6542eb3315e0c12610c69af3258f4bc9 --- /dev/null +++ b/dataset_info/AgiBot-g1_picks_up_parts_b.yaml @@ -0,0 +1,1260 @@ +dataset_name: picks_up_parts_b +dataset_uuid: 3c0a2eba-4ba5-472f-8d66-81ef39df434e +scene_type: +- factory +atomic_actions: +- place +- pick +- grasp +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +- object_name: parts + level1: tool + level2: parts + level3: null + level4: null + level5: null +path: AgiBot-g1_picks_up_parts_b +video_url: ./assets/videos/AgiBot-g1_picks_up_parts_b.mp4 +thumbnail_url: ./assets/thumbnails/AgiBot-g1_picks_up_parts_b.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 127.3GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: ruantong_a2d +codebase_version: v2.1 +statistics: + total_episodes: 824 + total_frames: 274936 + total_tasks: 1 + total_videos: 6592 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:823 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: use the mechanical arm to pick up the parts and place them on the table. +sub_tasks: +- Place the hard drive bracket into the box. +- Pick up the hard drive bracket from the feeding area. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_back_left_fisheye_rgb + name: cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_back_right_fisheye_rgb + name: cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_center_fisheye_rgb + name: cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_left_fisheye_rgb + name: cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_fisheye_rgb + name: cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w +action_space: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AgiBot-g1_picks_up_parts_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 469 + dataset_name: picks_up_parts_b + dataset_uuid: 3c0a2eba-4ba5-472f-8d66-81ef39df434e + device_model: ruantong_a2d + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx01/zy/103_上料区-金华场景15/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_picks_up_parts_b + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: picks_up_parts_b + dataset_uuid: null + task_descriptions: + - use the mechanical arm to pick up the parts and place them on the table. + scene_type: + - factory + atomic_actions: + - place + - pick + - grasp + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + - object_name: parts + level1: tool + level2: parts + level3: null + level4: null + level5: null + -operation_platform_height: null + device_model: + - ruantong_a2d + end_effector_type: two_finger_gripper + meta: + robot_type: ruantong_a2d + codebase_version: v2.1 + statistics: + total_episodes: 824 + total_frames: 274936 + total_tasks: 1 + total_videos: 6592 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:823 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AgiBot-g1_remove_the_accessory.yaml b/dataset_info/AgiBot-g1_remove_the_accessory.yaml new file mode 100644 index 0000000000000000000000000000000000000000..64f0cb54b88f0a92909cfe2e111ff9dc984fbe8b --- /dev/null +++ b/dataset_info/AgiBot-g1_remove_the_accessory.yaml @@ -0,0 +1,1261 @@ +dataset_name: remove_the_accessory +dataset_uuid: fcba76dc-2672-4dc1-9b8e-b375ede64077 +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +- object_name: accessories + level1: industrial_parts + level2: accessories + level3: null + level4: null + level5: null +path: AgiBot-g1_remove_the_accessory +video_url: ./assets/videos/AgiBot-g1_remove_the_accessory.mp4 +thumbnail_url: ./assets/thumbnails/AgiBot-g1_remove_the_accessory.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 14.8GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: ruantong_a2d +codebase_version: v2.1 +statistics: + total_episodes: 68 + total_frames: 27353 + total_tasks: 1 + total_videos: 544 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:67 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: take the accessories out of the box and place them on the table. +sub_tasks: +- Place the hard drive bracket into the box. +- Pick up the hard drive bracket from the feeding area. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_back_left_fisheye_rgb + name: cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_back_right_fisheye_rgb + name: cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_center_fisheye_rgb + name: cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_left_fisheye_rgb + name: cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_fisheye_rgb + name: cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w +action_space: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AgiBot-g1_remove_the_accessory_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 480 + dataset_name: remove_the_accessory + dataset_uuid: fcba76dc-2672-4dc1-9b8e-b375ede64077 + device_model: ruantong_a2d + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx02/zy/34_上料区-金华场景8/379/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_remove_the_accessory + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: remove_the_accessory_b + dataset_uuid: null + task_descriptions: + - take the accessories out of the box and place them on the table. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: accessories + level1: industrial_parts + level2: accessories + level3: null + level4: null + level5: null + -operation_platform_height: null + device_model: + - tianqing_a2d + end_effector_type: two_finger_gripper + meta: + robot_type: ruantong_a2d + codebase_version: v2.1 + statistics: + total_episodes: 68 + total_frames: 27353 + total_tasks: 1 + total_videos: 544 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:67 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AgiBot-g1_right_capture_part.yaml b/dataset_info/AgiBot-g1_right_capture_part.yaml new file mode 100644 index 0000000000000000000000000000000000000000..51af239c100e96d79d4e8c0448847e944922e71f --- /dev/null +++ b/dataset_info/AgiBot-g1_right_capture_part.yaml @@ -0,0 +1,1293 @@ +dataset_name: right_capture_part +dataset_uuid: 3bab35b2-895e-4796-be8a-198ba6e5baa8 +scene_type: +- factory +atomic_actions: +- grasp +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: part + level1: tool + level2: part + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +- object_name: black_container + level1: container + level2: black_container + level3: null + level4: null + level5: null +path: AgiBot-g1_right_capture_part +video_url: ./assets/videos/AgiBot-g1_right_capture_part.mp4 +thumbnail_url: ./assets/thumbnails/AgiBot-g1_right_capture_part.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 13.1GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: ruantong_a2d +codebase_version: v2.1 +statistics: + total_episodes: 57 + total_frames: 27866 + total_tasks: 1 + total_videos: 456 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:56 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: grasp the part and place them on the black container. +sub_tasks: +- Place the front USB bracket into the box. +- Pick up and lift the front USB bracket from the feeding area. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_back_left_fisheye_rgb + name: cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_back_right_fisheye_rgb + name: cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_center_fisheye_rgb + name: cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_left_fisheye_rgb + name: cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_fisheye_rgb + name: cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w +action_space: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AgiBot-g1_right_capture_part_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 443 + dataset_name: right_capture_part + dataset_uuid: 3bab35b2-895e-4796-be8a-198ba6e5baa8 + device_model: ruantong_a2d + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/gt01/zy/43_上料区-金华场景3/383/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_right_capture_part + scene_types: + - factory + atomic_actions: + - grasp + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: part + level1: tool + level2: part + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + - object_name: black_container + level1: container + level2: black_container + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: right_capture_part + dataset_uuid: null + task_descriptions: + - grasp the part with your right hand and place them on the black container. + scene_type: + - factory + atomic_actions: + - grasp + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: part + level1: tool + level2: part + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + - object_name: black_container + level1: tool + level2: black_container + level3: null + level4: null + operation_platform_height: null + device_model: + - tianqing_a2d + end_effector_type: two_finger_gripper + meta: + robot_type: ruantong_a2d + codebase_version: v2.1 + statistics: + total_episodes: 57 + total_frames: 27866 + total_tasks: 1 + total_videos: 456 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:56 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AgiBot-g1_robotic_arm_picks_up_battery.yaml b/dataset_info/AgiBot-g1_robotic_arm_picks_up_battery.yaml new file mode 100644 index 0000000000000000000000000000000000000000..17606b635dd2088f2614a3a28381dc578f2bb0b0 --- /dev/null +++ b/dataset_info/AgiBot-g1_robotic_arm_picks_up_battery.yaml @@ -0,0 +1,1283 @@ +dataset_name: robotic_arm_picks_up_battery +dataset_uuid: 14af3598-fff7-4c0b-bca2-16c57884c70e +scene_type: +- factory +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: carton + level1: laboratory_supplies + level2: carton + level3: null + level4: null + level5: null +- object_name: battery + level1: tool + level2: battery + level3: null + level4: null + level5: null +path: AgiBot-g1_robotic_arm_picks_up_battery +video_url: ./assets/videos/AgiBot-g1_robotic_arm_picks_up_battery.mp4 +thumbnail_url: ./assets/thumbnails/AgiBot-g1_robotic_arm_picks_up_battery.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 17.9GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: ruantong_a2d +codebase_version: v2.1 +statistics: + total_episodes: 56 + total_frames: 30215 + total_tasks: 1 + total_videos: 448 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:55 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: take the battery and put it on the table. +sub_tasks: +- Place the power supply on the operating table. +- Grab and lift the power supply from the large box. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_back_left_fisheye_rgb + name: cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_back_right_fisheye_rgb + name: cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_center_fisheye_rgb + name: cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_left_fisheye_rgb + name: cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_fisheye_rgb + name: cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w +action_space: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AgiBot-g1_robotic_arm_picks_up_battery_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 445 + dataset_name: robotic_arm_picks_up_battery + dataset_uuid: 14af3598-fff7-4c0b-bca2-16c57884c70e + device_model: ruantong_a2d + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/gt01/zy/21_备料区场景5/375/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_robotic_arm_picks_up_battery + scene_types: + - factory + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: carton + level1: laboratory_supplies + level2: carton + level3: null + level4: null + level5: null + - object_name: battery + level1: tool + level2: battery + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: robotic_arm_picks_up_battery + dataset_uuid: null + task_descriptions: + - take the battery and put it on the table. + scene_type: + - factory + atomic_actions: + - place + - pick + - grasp + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: carton + level1: tool + level2: carton + level3: null + level4: null + level5: null + - object_name: battery + level1: tool + level2: battery + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - tianqing_a2d + end_effector_type: two_finger_gripper + meta: + robot_type: ruantong_a2d + codebase_version: v2.1 + statistics: + total_episodes: 56 + total_frames: 30215 + total_tasks: 1 + total_videos: 448 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:55 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AgiBot-g1_robotic_arm_picks_up_parts.yaml b/dataset_info/AgiBot-g1_robotic_arm_picks_up_parts.yaml new file mode 100644 index 0000000000000000000000000000000000000000..93c18a766060c8b032ddefc06d1202839e78aa6b --- /dev/null +++ b/dataset_info/AgiBot-g1_robotic_arm_picks_up_parts.yaml @@ -0,0 +1,1283 @@ +dataset_name: robotic_arm_picks_up_parts +dataset_uuid: 9d81f45b-a37d-46ad-b5cd-899737518fb6 +scene_type: +- factory +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: black_container + level1: container + level2: black_container + level3: null + level4: null + level5: null +- object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null +path: AgiBot-g1_robotic_arm_picks_up_parts +video_url: ./assets/videos/AgiBot-g1_robotic_arm_picks_up_parts.mp4 +thumbnail_url: ./assets/thumbnails/AgiBot-g1_robotic_arm_picks_up_parts.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 15.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: ruantong_a2d +codebase_version: v2.1 +statistics: + total_episodes: 53 + total_frames: 30190 + total_tasks: 1 + total_videos: 424 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:52 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: pick up parts and place them into a black container. +sub_tasks: +- Place the hard drive bracket into the box. +- Pick up the hard drive bracket from the feeding area. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_back_left_fisheye_rgb + name: cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_back_right_fisheye_rgb + name: cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_center_fisheye_rgb + name: cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_left_fisheye_rgb + name: cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_fisheye_rgb + name: cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w +action_space: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AgiBot-g1_robotic_arm_picks_up_parts_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 447 + dataset_name: robotic_arm_picks_up_parts + dataset_uuid: 9d81f45b-a37d-46ad-b5cd-899737518fb6 + device_model: ruantong_a2d + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/gt01/zy/36_上料区-金华场景7/358/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_robotic_arm_picks_up_parts + scene_types: + - factory + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: black_container + level1: container + level2: black_container + level3: null + level4: null + level5: null + - object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: robotic_arm_picks_up_parts + dataset_uuid: null + task_descriptions: + - pick up parts and place them into a black container. + scene_type: + - factory + atomic_actions: + - place + - pick + - grasp + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: black_container + level1: container + level2: black_container + level3: null + level4: null + level5: null + - object_name: parts + level1: industrial_parts + level2: parts + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - tianqing_a2d + end_effector_type: two_finger_gripper + meta: + robot_type: ruantong_a2d + codebase_version: v2.1 + statistics: + total_episodes: 53 + total_frames: 30190 + total_tasks: 1 + total_videos: 424 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:52 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AgiBot-g1_storage_item_b.yaml b/dataset_info/AgiBot-g1_storage_item_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1288208d03eb07e548ea1bfa2cfd05704f04bf86 --- /dev/null +++ b/dataset_info/AgiBot-g1_storage_item_b.yaml @@ -0,0 +1,1270 @@ +dataset_name: storage_item_b +dataset_uuid: 6dc0fd94-f3bf-4d74-8dca-8b8723050f7d +scene_type: +- factory +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: data_cable + level1: tool + level2: data_cable + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +- object_name: mouse + level1: tool + level2: mouse + level3: null + level4: null + level5: null +path: AgiBot-g1_storage_item_b +video_url: ./assets/videos/AgiBot-g1_storage_item_b.mp4 +thumbnail_url: ./assets/thumbnails/AgiBot-g1_storage_item_b.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 21.3GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: ruantong_a2d +codebase_version: v2.1 +statistics: + total_episodes: 106 + total_frames: 48184 + total_tasks: 1 + total_videos: 848 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:105 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: grasp data cable left put into box grasp mouse right put into box. +sub_tasks: +- Place the mouse and power cord into the box. +- Simultaneously pick up the mouse and power cord from the accessory packaging area. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_back_left_fisheye_rgb + name: cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_back_right_fisheye_rgb + name: cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_center_fisheye_rgb + name: cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_left_fisheye_rgb + name: cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_fisheye_rgb + name: cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w +action_space: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AgiBot-g1_storage_item_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 456 + dataset_name: storage_item_b + dataset_uuid: 6dc0fd94-f3bf-4d74-8dca-8b8723050f7d + device_model: ruantong_a2d + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx01/zy/94_配件包装区场景18/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_storage_item_b + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: storage_item_b + dataset_uuid: null + task_descriptions: + - grasp data cable left put into box grasp mouse right put into box. + scene_type: + - factory + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: data_cable + level1: tool + level2: data_cable + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + - object_name: mouse + level1: tool + level2: mouse + level3: null + level4: null + -operation_platform_height: null + device_model: + - tianqing_a2d + end_effector_type: two_finger_gripper + meta: + robot_type: ruantong_a2d + codebase_version: v2.1 + statistics: + total_episodes: 106 + total_frames: 48184 + total_tasks: 1 + total_videos: 848 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:105 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AgiBot-g1_storage_item_d.yaml b/dataset_info/AgiBot-g1_storage_item_d.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f6ffd37755001c738f8e9a7634c3871b15707ac3 --- /dev/null +++ b/dataset_info/AgiBot-g1_storage_item_d.yaml @@ -0,0 +1,1271 @@ +dataset_name: storage_item_d +dataset_uuid: 49f10ba2-bad7-46fc-ae4b-f6142efa81a2 +scene_type: +- factory +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: data_cable + level1: tool + level2: data_cable + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +- object_name: mouse + level1: tool + level2: mouse + level3: null + level4: null + level5: null +path: AgiBot-g1_storage_item_d +video_url: ./assets/videos/AgiBot-g1_storage_item_d.mp4 +thumbnail_url: ./assets/thumbnails/AgiBot-g1_storage_item_d.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 86.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: ruantong_a2d +codebase_version: v2.1 +statistics: + total_episodes: 450 + total_frames: 180148 + total_tasks: 1 + total_videos: 3600 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:449 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: grasp data cable left put into box grasp mouse right put into box. +sub_tasks: +- Grab and pick up both the mouse and power cord from the accessory packaging area + at the same time +- Place the mouse and power cord into the box +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_back_left_fisheye_rgb + name: cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_back_right_fisheye_rgb + name: cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_center_fisheye_rgb + name: cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_left_fisheye_rgb + name: cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_fisheye_rgb + name: cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w +action_space: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AgiBot-g1_storage_item_d_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 461 + dataset_name: storage_item_d + dataset_uuid: 49f10ba2-bad7-46fc-ae4b-f6142efa81a2 + device_model: ruantong_a2d + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx01/zy/98_配件包装区场景19/472/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_storage_item_d + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: storage_item_d + dataset_uuid: null + task_descriptions: + - grasp data cable left put into box grasp mouse right put into box. + scene_type: + - factory + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: data_cable + level1: tool + level2: data_cable + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + - object_name: mouse + level1: tool + level2: mouse + level3: null + level4: null + -operation_platform_height: null + device_model: + - tianqing_a2d + end_effector_type: two_finger_gripper + meta: + robot_type: ruantong_a2d + codebase_version: v2.1 + statistics: + total_episodes: 450 + total_frames: 180148 + total_tasks: 1 + total_videos: 3600 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:449 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AgiBot-g1_storage_item_e.yaml b/dataset_info/AgiBot-g1_storage_item_e.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d4fe7ca0d70b1eb8ab50f16db436a81ca20148b2 --- /dev/null +++ b/dataset_info/AgiBot-g1_storage_item_e.yaml @@ -0,0 +1,1271 @@ +dataset_name: storage_item_e +dataset_uuid: 6d8ca1f6-f9cf-4b0c-bef5-fca799793086 +scene_type: +- factory +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: data_cable + level1: tool + level2: data_cable + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +- object_name: mouse + level1: tool + level2: mouse + level3: null + level4: null + level5: null +path: AgiBot-g1_storage_item_e +video_url: ./assets/videos/AgiBot-g1_storage_item_e.mp4 +thumbnail_url: ./assets/thumbnails/AgiBot-g1_storage_item_e.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 92.8GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: ruantong_a2d +codebase_version: v2.1 +statistics: + total_episodes: 507 + total_frames: 212067 + total_tasks: 1 + total_videos: 4056 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:506 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put the tools in the box. +sub_tasks: +- Grab and lift both the mouse and power cord from the accessory packaging area at + the same time +- Place the mouse and power cord into the box +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_back_left_fisheye_rgb + name: cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_back_right_fisheye_rgb + name: cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_center_fisheye_rgb + name: cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_left_fisheye_rgb + name: cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_fisheye_rgb + name: cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w +action_space: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AgiBot-g1_storage_item_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 465 + dataset_name: storage_item_e + dataset_uuid: 6d8ca1f6-f9cf-4b0c-bef5-fca799793086 + device_model: ruantong_a2d + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/jx01/zy/100_配件包装区场景20/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_storage_item_e + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: storage_item_e + dataset_uuid: null + task_descriptions: + - put the data cable and mouse into the box. + scene_type: + - factory + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: data_cable + level1: tool + level2: data_cable + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + - object_name: mouse + level1: tool + level2: mouse + level3: null + level4: null + -operation_platform_height: null + device_model: + - tianqing_a2d + end_effector_type: two_finger_gripper + meta: + robot_type: ruantong_a2d + codebase_version: v2.1 + statistics: + total_episodes: 507 + total_frames: 212067 + total_tasks: 1 + total_videos: 4056 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:506 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/AgiBot-g1_tool_storage.yaml b/dataset_info/AgiBot-g1_tool_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c548520665a97d147acf9a290198f1e5a69ab295 --- /dev/null +++ b/dataset_info/AgiBot-g1_tool_storage.yaml @@ -0,0 +1,1283 @@ +dataset_name: tool_storage +dataset_uuid: 4681c572-c9b2-475c-b9c1-66ed9f3d533d +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +- object_name: tools + level1: tools + level2: tools + level3: null + level4: null + level5: null +path: AgiBot-g1_tool_storage +video_url: ./assets/videos/AgiBot-g1_tool_storage.mp4 +thumbnail_url: ./assets/thumbnails/AgiBot-g1_tool_storage.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 13.5GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: ruantong_a2d +codebase_version: v2.1 +statistics: + total_episodes: 67 + total_frames: 30600 + total_tasks: 1 + total_videos: 536 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:66 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put the tools into the yellow box on the white table. +sub_tasks: +- Place the mouse and power cord into the box. +- Grab and lift both the mouse and power cord from the accessory packaging area at + the same time. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.cam_back_left_fisheye_rgb + name: cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_back_right_fisheye_rgb + name: cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_center_fisheye_rgb + name: cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_left_fisheye_rgb + name: cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_fisheye_rgb + name: cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + resolution: + - 1536 + - 1920 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_back_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_center_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_left_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_fisheye_rgb + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w +action_space: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "AgiBot-g1_tool_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 448 + dataset_name: tool_storage + dataset_uuid: 4681c572-c9b2-475c-b9c1-66ed9f3d533d + device_model: ruantong_a2d + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/gt02/zy/59_配件包装区场景13/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/AgiBot-g1_tool_storage + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + - object_name: tools + level1: tools + level2: tools + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: mouse_storage + dataset_uuid: null + task_descriptions: + - put the mouse into the box. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: mouse_storage + level1: electronic products + level2: mouse_storage + level3: null + level4: null + level5: null + -operation_platform_height: null + device_model: + - tianqing_a2d + end_effector_type: two_finger_gripper + meta: + robot_type: ruantong_a2d + codebase_version: v2.1 + statistics: + total_episodes: 67 + total_frames: 30600 + total_tasks: 1 + total_videos: 536 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:66 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_back_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_center_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_left_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_fisheye_rgb: + dtype: video + shape: + - 1536 + - 1920 + - 3 + names: + - height + - width + - channels + info: + video.height: 1536 + video.width: 1920 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 41 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + - robot_pos_x_m + - robot_pos_y_m + - robot_pos_z_m + - robot_quat_x + - robot_quat_y + - robot_quat_z + - robot_quat_w + action: + dtype: float32 + shape: + - 34 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_end_pos_x_m + - left_end_pos_y_m + - left_end_pos_z_m + - left_end_quat_x + - left_end_quat_y + - left_end_quat_z + - left_end_quat_w + - right_end_pos_x_m + - right_end_pos_y_m + - right_end_pos_z_m + - right_end_quat_x + - right_end_quat_y + - right_end_quat_z + - right_end_quat_w + - waist_yaw_rad + - waist_pitch_rad + - head_yaw_rad + - head_pitch_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_move_block_gold_bar_models.yaml b/dataset_info/Airbot_MMK2_move_block_gold_bar_models.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3d496131d9da573d36ac6c69a3b625d49c1d58b5 --- /dev/null +++ b/dataset_info/Airbot_MMK2_move_block_gold_bar_models.yaml @@ -0,0 +1,952 @@ +dataset_name: Airbot_MMK2_move_block_gold_bar_models +dataset_uuid: 8f0091c0-69e1-4ca0-80f9-a7ae390d4a9f +scene_type: +- 'level1: household' +- 'level2: living_room' +- household +- living_room +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: eyeglass_case + level1: laboratory_supplies + level2: eyeglass_case + level3: null + level4: null + level5: null +- object_name: early_education_toys + level1: toys + level2: early_education_toys + level3: null + level4: null + level5: null +path: Airbot_MMK2_move_block_gold_bar_models +video_url: ./assets/videos/Airbot_MMK2_move_block_gold_bar_models.mp4 +thumbnail_url: ./assets/thumbnails/Airbot_MMK2_move_block_gold_bar_models.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 433.7MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Airbot_MMK2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 10703 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: place the glasses case in the middle of the table with one hand and put the + toy gold bar on top of it with the other hand. +sub_tasks: +- Place the gold bar on the glasses case with the right gripper +- Grasp the glasses case with the left gripper +- Abnormal +- Static +- Place the glasses case on the middle of the table with the left gripper +- End +- Grasp the gold bar the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Airbot_MMK2_move_block_gold_bar_models_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 984 + dataset_name: Airbot_MMK2_move_block_gold_bar_models + dataset_uuid: 8f0091c0-69e1-4ca0-80f9-a7ae390d4a9f + device_model: Airbot_MMK2 + end_effector_type: five_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_move_block_gold_bar_models/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_move_block_gold_bar_models + scene_types: + - 'level1: household' + - 'level2: living_room' + - household + - living_room + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: eyeglass_case + level1: laboratory_supplies + level2: eyeglass_case + level3: null + level4: null + level5: null + - object_name: early_education_toys + level1: toys + level2: early_education_toys + level3: null + level4: null + level5: null + total_episodes: 50 + yaml: + dataset_name: Airbot_MMK2_move_block_gold_bar_models + dataset_uuid: null + task_descriptions: + - place the glasses case in the middle of the table with your left hand and put + the toy gold bar on the glasses case with your right hand. + result: success + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: eyeglass_case + level1: laboratory_supplies + level2: eyeglass_case + level3: null + level4: null + level5: null + - object_name: early_education_toys + level1: toys + level2: early_education_toys + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + meta: + robot_type: Airbot_MMK2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 10703 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_move_book_front.yaml b/dataset_info/Airbot_MMK2_move_book_front.yaml new file mode 100644 index 0000000000000000000000000000000000000000..04857f9d4cad55f5e956a0abfbe62b2f1ff6043f --- /dev/null +++ b/dataset_info/Airbot_MMK2_move_book_front.yaml @@ -0,0 +1,932 @@ +dataset_name: Airbot_MMK2_move_book_front +dataset_uuid: 76889c9d-1f69-4822-b205-536409786515 +scene_type: +- 'level1: household' +- 'level2: study_room' +- household +- study_room +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: book + level1: stationery + level2: book + level3: null + level4: null + level5: null +path: Airbot_MMK2_move_book_front +video_url: ./assets/videos/Airbot_MMK2_move_book_front.mp4 +thumbnail_url: ./assets/thumbnails/Airbot_MMK2_move_book_front.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 396.4MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Airbot_MMK2 +codebase_version: v2.1 +statistics: + total_episodes: 49 + total_frames: 10519 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:48 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Pick up the book with one hand and transfer it to the other, then place it + on top of another book. +sub_tasks: +- Deliver the yellow book from left gripper to right gripper +- Place the yellow book on the white book with the right gripper +- Grasp the yellow book with the left gripper +- Static +- End +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Airbot_MMK2_move_book_front_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 969 + dataset_name: Airbot_MMK2_move_book_front + dataset_uuid: 76889c9d-1f69-4822-b205-536409786515 + device_model: Airbot_MMK2 + end_effector_type: five_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_move_book_front/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_move_book_front + scene_types: + - 'level1: household' + - 'level2: study_room' + - household + - study_room + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: book + level1: stationery + level2: book + level3: null + level4: null + level5: null + total_episodes: 49 + yaml: + dataset_name: Airbot_MMK2_move_book_front + dataset_uuid: null + task_descriptions: + - pick up the book with your left hand and hand it to your right hand, then place + it on top of another book. + result: success + scene_type: + level1: household + level2: study_room + level3: null + level4: null + level5: null + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: book + level1: stationery + level2: book + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + meta: + robot_type: Airbot_MMK2 + codebase_version: v2.1 + statistics: + total_episodes: 49 + total_frames: 10519 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:48 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_move_book_right_side.yaml b/dataset_info/Airbot_MMK2_move_book_right_side.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a2f70b2f82e358ff8c7e459297a6a55a9e42b4e2 --- /dev/null +++ b/dataset_info/Airbot_MMK2_move_book_right_side.yaml @@ -0,0 +1,931 @@ +dataset_name: Airbot_MMK2_move_book_right_side +dataset_uuid: 9ed7c8c8-72eb-4c06-9bf6-a2e3f326d088 +scene_type: +- 'level1: household' +- 'level2: study_room' +- household +- study_room +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: book + level1: stationery + level2: book + level3: null + level4: null + level5: null +path: Airbot_MMK2_move_book_right_side +video_url: ./assets/videos/Airbot_MMK2_move_book_right_side.mp4 +thumbnail_url: ./assets/thumbnails/Airbot_MMK2_move_book_right_side.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 224.8MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Airbot_MMK2 +codebase_version: v2.1 +statistics: + total_episodes: 46 + total_frames: 7183 + total_tasks: 1 + total_videos: 184 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:45 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Pick up the book with one hand, transfer it to the other hand, and then put + it down. +sub_tasks: +- Pass the yellow book to right gripper +- End +- Grasp the yellow book with left gripper +- Place the yellow book in the center of table with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Airbot_MMK2_move_book_right_side_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 972 + dataset_name: Airbot_MMK2_move_book_right_side + dataset_uuid: 9ed7c8c8-72eb-4c06-9bf6-a2e3f326d088 + device_model: Airbot_MMK2 + end_effector_type: five_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_move_book_right_side/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_move_book_right_side + scene_types: + - 'level1: household' + - 'level2: study_room' + - household + - study_room + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: book + level1: stationery + level2: book + level3: null + level4: null + level5: null + total_episodes: 46 + yaml: + dataset_name: Airbot_MMK2_move_book_right_side + dataset_uuid: null + task_descriptions: + - pick up the book with your left hand, hand it to your right hand and then put + it down. + result: success + scene_type: + level1: household + level2: study_room + level3: null + level4: null + level5: null + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: book + level1: stationery + level2: book + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + meta: + robot_type: Airbot_MMK2 + codebase_version: v2.1 + statistics: + total_episodes: 46 + total_frames: 7183 + total_tasks: 1 + total_videos: 184 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:45 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_move_bottle_tape_measure.yaml b/dataset_info/Airbot_MMK2_move_bottle_tape_measure.yaml new file mode 100644 index 0000000000000000000000000000000000000000..41b15b9a084a739ae53fdae6109f91ee1765e934 --- /dev/null +++ b/dataset_info/Airbot_MMK2_move_bottle_tape_measure.yaml @@ -0,0 +1,968 @@ +dataset_name: Airbot_MMK2_move_bottle_tape_measure +dataset_uuid: c3616451-32d4-41c0-a86d-8dc9a90fc41c +scene_type: +- 'level1: household' +- 'level2: living_room' +- household +- living_room +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: water_bottle + level1: beverages + level2: water_bottle + level3: null + level4: null + level5: null +- object_name: tape_measure + level1: stationery + level2: tape_measure + level3: null + level4: null + level5: null +- object_name: white_basket + level1: home_storage + level2: white_basket + level3: null + level4: null + level5: null +path: Airbot_MMK2_move_bottle_tape_measure +video_url: ./assets/videos/Airbot_MMK2_move_bottle_tape_measure.mp4 +thumbnail_url: ./assets/thumbnails/Airbot_MMK2_move_bottle_tape_measure.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 221.4MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Airbot_MMK2 +codebase_version: v2.1 +statistics: + total_episodes: 43 + total_frames: 7316 + total_tasks: 1 + total_videos: 172 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:42 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Take the water bottle and the ruler off the white box, one in each hand. +sub_tasks: +- Grasp the tape measure with the right gripper +- Abnormal +- Grasp the mineral water with the left gripper +- Place the tape measure on the table with the right gripper +- Place the mineral water on the table with the left gripper +- End +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Airbot_MMK2_move_bottle_tape_measure_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 961 + dataset_name: Airbot_MMK2_move_bottle_tape_measure + dataset_uuid: c3616451-32d4-41c0-a86d-8dc9a90fc41c + device_model: Airbot_MMK2 + end_effector_type: five_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_move_bottle_tape_measure/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_move_bottle_tape_measure + scene_types: + - 'level1: household' + - 'level2: living_room' + - household + - living_room + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: water_bottle + level1: beverages + level2: water_bottle + level3: null + level4: null + level5: null + - object_name: tape_measure + level1: stationery + level2: tape_measure + level3: null + level4: null + level5: null + - object_name: white_basket + level1: home_storage + level2: white_basket + level3: null + level4: null + level5: null + total_episodes: 44 + yaml: + dataset_name: Airbot_MMK2_move_bottle_tape_measure + dataset_uuid: null + task_descriptions: + - take the water bottle and the ruler off the white box respectively with your + left and right hands. + result: success + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: white_basket + level1: home_storage + level2: white_basket + level3: null + level4: null + level5: null + - object_name: water_bottle + level1: beverages + level2: water_bottle + level3: null + level4: null + level5: null + - object_name: tape_measure + level1: stationery + level2: tape_measure + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + meta: + robot_type: Airbot_MMK2 + codebase_version: v2.1 + statistics: + total_episodes: 43 + total_frames: 7316 + total_tasks: 1 + total_videos: 172 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:42 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_move_fake_food.yaml b/dataset_info/Airbot_MMK2_move_fake_food.yaml new file mode 100644 index 0000000000000000000000000000000000000000..228ab1d8ec2a1b3d92cf15ec8451c9e3c3033526 --- /dev/null +++ b/dataset_info/Airbot_MMK2_move_fake_food.yaml @@ -0,0 +1,928 @@ +dataset_name: Airbot_MMK2_move_fake_food +dataset_uuid: 25d0c571-2d77-452e-b50c-95104b62ef46 +scene_type: +- 'level1: household' +- 'level2: living_room' +- household +- living_room +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: early_education_toys + level1: toys + level2: early_education_toys + level3: null + level4: null + level5: null +path: Airbot_MMK2_move_fake_food +video_url: ./assets/videos/Airbot_MMK2_move_fake_food.mp4 +thumbnail_url: ./assets/thumbnails/Airbot_MMK2_move_fake_food.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 313.5MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Airbot_MMK2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 7610 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Place the toy food on the toy table using one hand. +sub_tasks: +- End +- Grasp the small bowl of canned food with right gripper +- Place the small bowl of canned food on the table with the right gripper +- Abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Airbot_MMK2_move_fake_food_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 963 + dataset_name: Airbot_MMK2_move_fake_food + dataset_uuid: 25d0c571-2d77-452e-b50c-95104b62ef46 + device_model: Airbot_MMK2 + end_effector_type: five_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_move_fake_food/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_move_fake_food + scene_types: + - 'level1: household' + - 'level2: living_room' + - household + - living_room + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: early_education_toys + level1: toys + level2: early_education_toys + level3: null + level4: null + level5: null + total_episodes: 50 + yaml: + dataset_name: Airbot_MMK2_move_fake_food + dataset_uuid: null + task_descriptions: + - put the toy food on the toy table with your right hand. + result: success + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: early_education_toys + level1: toys + level2: early_education_toys + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + meta: + robot_type: Airbot_MMK2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 7610 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_move_medicine_bottle.yaml b/dataset_info/Airbot_MMK2_move_medicine_bottle.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d36100e93997a974f3283f09e8f7e7493ad9fc5c --- /dev/null +++ b/dataset_info/Airbot_MMK2_move_medicine_bottle.yaml @@ -0,0 +1,968 @@ +dataset_name: Airbot_MMK2_move_medicine_bottle +dataset_uuid: 1ac761d0-db14-4cb1-9126-7d82c8c2bcc0 +scene_type: +- 'level1: medical_healthcare' +- 'level2: pharmacy' +- medical_healthcare +- pharmacy +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: board + level1: material + level2: board + level3: null + level4: null + level5: null +- object_name: medicine_bottle + level1: container + level2: medicine_bottle + level3: null + level4: null + level5: null +path: Airbot_MMK2_move_medicine_bottle +video_url: ./assets/videos/Airbot_MMK2_move_medicine_bottle.mp4 +thumbnail_url: ./assets/thumbnails/Airbot_MMK2_move_medicine_bottle.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 467.8MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Airbot_MMK2 +codebase_version: v2.1 +statistics: + total_episodes: 49 + total_frames: 16023 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:48 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: place the medicine bottles on the table onto the board with both hands. +sub_tasks: +- Place the white bottle on the white board with the right gripper +- Abnormal +- Grasp the white bottle with the left gripper +- Static +- End +- Grasp the white bottle the right gripper +- Place the white bottle on the white board with the left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Airbot_MMK2_move_medicine_bottle_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 881 + dataset_name: Airbot_MMK2_move_medicine_bottle + dataset_uuid: 1ac761d0-db14-4cb1-9126-7d82c8c2bcc0 + device_model: Airbot_MMK2 + end_effector_type: five_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_move_medicine_bottle/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_move_medicine_bottle + scene_types: + - 'level1: medical_healthcare' + - 'level2: pharmacy' + - medical_healthcare + - pharmacy + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: board + level1: material + level2: board + level3: null + level4: null + level5: null + - object_name: medicine_bottle + level1: container + level2: medicine_bottle + level3: null + level4: null + level5: null + total_episodes: 50 + yaml: + dataset_name: Airbot_MMK2_move_medicine_bottle + dataset_uuid: null + task_descriptions: + - place the medicine bottles on the table onto the board with both hands. + result: success + scene_type: + level1: medical_healthcare + level2: pharmacy + level3: null + level4: null + level5: null + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: medicine_bottle + level1: container + level2: medicine_bottle + level3: null + level4: null + level5: null + - object_name: board + level1: material + level2: board + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + meta: + robot_type: Airbot_MMK2 + codebase_version: v2.1 + statistics: + total_episodes: 49 + total_frames: 16023 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:48 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_move_phone_twice.yaml b/dataset_info/Airbot_MMK2_move_phone_twice.yaml new file mode 100644 index 0000000000000000000000000000000000000000..185e72c623ce8df85f20d169c3436e22492fc88d --- /dev/null +++ b/dataset_info/Airbot_MMK2_move_phone_twice.yaml @@ -0,0 +1,961 @@ +dataset_name: Airbot_MMK2_move_phone_twice +dataset_uuid: a87f0421-4254-42fb-8e01-2e1ba2d0e671 +scene_type: +- level1 +- level2 +- level3 +- level4 +- level5 +- 'level1: household' +- 'level2: bedroom' +- household +- bedroom +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: mobile_phone + level1: appliances + level2: mobile_phone + level3: null + level4: null + level5: null +- object_name: paper_boxes + level1: packaging + level2: paper_boxes + level3: null + level4: null + level5: null +path: Airbot_MMK2_move_phone_twice +video_url: ./assets/videos/Airbot_MMK2_move_phone_twice.mp4 +thumbnail_url: ./assets/thumbnails/Airbot_MMK2_move_phone_twice.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 512.0MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Airbot_MMK2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 9795 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Place the mobile phone on the box with one hand and take it off with the other. +sub_tasks: +- Grasp the telephone with the right gripper +- End +- Abnormal +- Place the telephone on the box with the left gripper +- Static +- Grasp the telephone with the left gripper +- Place the telephone on the table with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Airbot_MMK2_move_phone_twice_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 864 + dataset_name: Airbot_MMK2_move_phone_twice + dataset_uuid: a87f0421-4254-42fb-8e01-2e1ba2d0e671 + device_model: Airbot_MMK2 + end_effector_type: five_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_move_phone_twice/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_move_phone_twice + scene_types: + - level1 + - level2 + - level3 + - level4 + - level5 + - 'level1: household' + - 'level2: bedroom' + - household + - bedroom + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: mobile_phone + level1: appliances + level2: mobile_phone + level3: null + level4: null + level5: null + - object_name: paper_boxes + level1: packaging + level2: paper_boxes + level3: null + level4: null + level5: null + total_episodes: 50 + yaml: + dataset_name: Airbot_MMK2_move_phone_twice + dataset_uuid: null + task_descriptions: + - place the mobile phone on the box with your left hand and take it off with your + right hand. + result: success + scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: mobile_phone + level1: appliances + level2: mobile_phone + level3: null + level4: null + level5: null + - object_name: paper_boxes + level1: home_storage + level2: paper_boxes + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + meta: + robot_type: Airbot_MMK2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 9795 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_move_tub.yaml b/dataset_info/Airbot_MMK2_move_tub.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47ab7d2f25df8b5e4efa8fb9ff1dd49e348140b2 --- /dev/null +++ b/dataset_info/Airbot_MMK2_move_tub.yaml @@ -0,0 +1,938 @@ +dataset_name: Airbot_MMK2_move_tub +dataset_uuid: e11a8b93-b2b1-4df9-9f42-0ec47d628374 +scene_type: +- kitchen +- level1 +- level2 +- level3 +- level4 +- level5 +- 'level1: household' +- 'level2: kitchen' +- household +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null +path: Airbot_MMK2_move_tub +video_url: ./assets/videos/Airbot_MMK2_move_tub.mp4 +thumbnail_url: ./assets/thumbnails/Airbot_MMK2_move_tub.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 340.0MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Airbot_MMK2 +codebase_version: v2.1 +statistics: + total_episodes: 37 + total_frames: 11634 + total_tasks: 1 + total_videos: 148 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:36 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Pass the plate to your other hand and then put it down. +sub_tasks: +- Grasp the white box with left gripper +- Place the white box in the center of table with right gripper +- End +- Pass the white box to right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Airbot_MMK2_move_tub_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 862 + dataset_name: Airbot_MMK2_move_tub + dataset_uuid: e11a8b93-b2b1-4df9-9f42-0ec47d628374 + device_model: Airbot_MMK2 + end_effector_type: five_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_move_tub/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_move_tub + scene_types: + - kitchen + - level1 + - level2 + - level3 + - level4 + - level5 + - 'level1: household' + - 'level2: kitchen' + - household + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null + total_episodes: 37 + yaml: + dataset_name: Airbot_MMK2_move_tub + dataset_uuid: null + task_descriptions: + - pass the plate to your right hand with your left hand and then put it down. + result: success + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + meta: + robot_type: Airbot_MMK2 + codebase_version: v2.1 + statistics: + total_episodes: 37 + total_frames: 11634 + total_tasks: 1 + total_videos: 148 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:36 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_open_laptop.yaml b/dataset_info/Airbot_MMK2_open_laptop.yaml new file mode 100644 index 0000000000000000000000000000000000000000..477ded267a76c7323291d55d619ed041dbe6aced --- /dev/null +++ b/dataset_info/Airbot_MMK2_open_laptop.yaml @@ -0,0 +1,926 @@ +dataset_name: Airbot_MMK2_open_laptop +dataset_uuid: 6d721559-56e0-4fc9-8e7c-8037cd238e24 +scene_type: +- 'level1: office_workspace' +- 'level2: office' +- office +- office_workspace +atomic_actions: +- grasp +- open +end_effector_type: +- five_finger_gripper +operation_platform_height: null +objects: +- object_name: laptop + level1: appliances + level2: laptop + level3: null + level4: null + level5: null +path: Airbot_MMK2_open_laptop +video_url: ./assets/videos/Airbot_MMK2_open_laptop.mp4 +thumbnail_url: ./assets/thumbnails/Airbot_MMK2_open_laptop.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 432.3MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Airbot_MMK2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 11734 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Press the laptop with one hand and then open it with the other. +sub_tasks: +- Press the laptop with the right gripper +- Open the laptop with the left gripper +- Static +- Release the laptop with the right gripper +- End +- Grasp the laptop with the left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Airbot_MMK2_open_laptop_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 952 + dataset_name: Airbot_MMK2_open_laptop + dataset_uuid: 6d721559-56e0-4fc9-8e7c-8037cd238e24 + device_model: Airbot_MMK2 + end_effector_type: five_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_open_laptop/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_open_laptop + scene_types: + - 'level1: office_workspace' + - 'level2: office' + - office + - office_workspace + atomic_actions: + - grasp + - open + objects: + - object_name: laptop + level1: appliances + level2: laptop + level3: null + level4: null + level5: null + total_episodes: 50 + yaml: + dataset_name: Airbot_MMK2_open_laptop + dataset_uuid: null + task_descriptions: + - press the laptop with your right hand and then open it with your left hand. + result: success + scene_type: + level1: office_workspace + level2: office + level3: null + level4: null + level5: null + atomic_actions: + - grasp + - open + objects: + - object_name: laptop + level1: appliances + level2: laptop + level3: null + level4: null + level5:operation_platform_height: 77.2 + device_model: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + meta: + robot_type: Airbot_MMK2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 11734 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_pass_paper_box.yaml b/dataset_info/Airbot_MMK2_pass_paper_box.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1353eed4d1f399e62f3bed8c970cd25597fe5c30 --- /dev/null +++ b/dataset_info/Airbot_MMK2_pass_paper_box.yaml @@ -0,0 +1,934 @@ +dataset_name: Airbot_MMK2_pass_paper_box +dataset_uuid: aeba7ae4-265f-49c1-890a-4d6b4d092e95 +scene_type: +- 'level1: household' +- 'level2: study_room' +- household +- study_room +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: paper_box + level1: laboratory_supplies + level2: paper_box + level3: null + level4: null + level5: null +path: Airbot_MMK2_pass_paper_box +video_url: ./assets/videos/Airbot_MMK2_pass_paper_box.mp4 +thumbnail_url: ./assets/thumbnails/Airbot_MMK2_pass_paper_box.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 306.4MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Airbot_MMK2 +codebase_version: v2.1 +statistics: + total_episodes: 46 + total_frames: 8948 + total_tasks: 1 + total_videos: 184 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:45 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Pick up the book with one hand, transfer it to the other hand, and then put + it down. +sub_tasks: +- Place the mouse box on the white lid with the left gripper +- Grasp the calculator case with left gripper +- Place the phone case box on the white lid with the right gripper +- Grasp the mouse box with the left gripper +- Grasp the phone case box with the right gripper +- Pass the calculator case to right gripper +- Place the calculator case in the center of table with right gripper +- End +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Airbot_MMK2_pass_paper_box_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 980 + dataset_name: Airbot_MMK2_pass_paper_box + dataset_uuid: aeba7ae4-265f-49c1-890a-4d6b4d092e95 + device_model: Airbot_MMK2 + end_effector_type: five_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_pass_paper_box/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_pass_paper_box + scene_types: + - 'level1: household' + - 'level2: study_room' + - household + - study_room + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: paper_box + level1: laboratory_supplies + level2: paper_box + level3: null + level4: null + level5: null + total_episodes: 49 + yaml: + dataset_name: Airbot_MMK2_pass_paper_box + dataset_uuid: null + task_descriptions: + - pick up the book with your left hand, hand it to your right hand and then put + it down. + result: success + scene_type: + level1: household + level2: study_room + level3: null + level4: null + level5: null + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: paper_box + level1: laboratory_supplies + level2: paper_box + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + meta: + robot_type: Airbot_MMK2 + codebase_version: v2.1 + statistics: + total_episodes: 46 + total_frames: 8948 + total_tasks: 1 + total_videos: 184 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:45 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_pour_BBs.yaml b/dataset_info/Airbot_MMK2_pour_BBs.yaml new file mode 100644 index 0000000000000000000000000000000000000000..58dd1ee9692cb4b7fccd7fa55ffe11cd21f30191 --- /dev/null +++ b/dataset_info/Airbot_MMK2_pour_BBs.yaml @@ -0,0 +1,961 @@ +dataset_name: Airbot_MMK2_pour_BBs +dataset_uuid: 6a396572-9a1c-44ac-b622-1af54a32325c +scene_type: [] +atomic_actions: +- grasp +- pick +- place +- pour +end_effector_type: +- five_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: bowl + level1: bowl + level2: bowl + level3: null + level4: null + level5: null +- object_name: paper_cup + level1: kitchen_supplies + level2: paper_cup + level3: null + level4: null + level5: null +- object_name: bullet + level1: toys + level2: bullet + level3: null + level4: null + level5: null +path: Airbot_MMK2_pour_BBs +video_url: ./assets/videos/Airbot_MMK2_pour_BBs.mp4 +thumbnail_url: ./assets/thumbnails/Airbot_MMK2_pour_BBs.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 708.5MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Airbot_MMK2 +codebase_version: v2.1 +statistics: + total_episodes: 49 + total_frames: 19075 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:48 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: grab the paper cup and pour the bullets inside into the bowl. +sub_tasks: +- Grasp the paper cup containing bullets with right gripper +- End +- Abnormal +- Static +- Pour the bullets from the paper cup into the bowl with right gripper +- Place the paper cup on the table with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Airbot_MMK2_pour_BBs_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 885 + dataset_name: Airbot_MMK2_pour_BBs + dataset_uuid: 6a396572-9a1c-44ac-b622-1af54a32325c + device_model: Airbot_MMK2 + end_effector_type: five_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_pour_BBs/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_pour_BBs + scene_types: [] + atomic_actions: + - grasp + - pick + - place + - pour + objects: + - object_name: bowl + level1: bowl + level2: bowl + level3: null + level4: null + level5: null + - object_name: paper_cup + level1: kitchen_supplies + level2: paper_cup + level3: null + level4: null + level5: null + - object_name: bullet + level1: toys + level2: bullet + level3: null + level4: null + level5: null + total_episodes: 50 + yaml: + dataset_name: Airbot_MMK2_pour_BBs + dataset_uuid: null + task_descriptions: + - grab the paper cup and pour the bullets inside into the bowl. + result: success + scene_type: null + level1: other + level2: laboratory + level3: null + level4: null + level5: null + atomic_actions: + - grasp + - pick + - place + - pour + objects: + - object_name: paper_cup + level1: kitchen_supplies + level2: paper_cup + level3: null + level4: null + level5: null + - object_name: bowl + level1: kitchen_supplies + level2: bowl + level3: null + level4: null + level5: null + - object_name: bullet + level1: toys + level2: bullet + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + meta: + robot_type: Airbot_MMK2 + codebase_version: v2.1 + statistics: + total_episodes: 49 + total_frames: 19075 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:48 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_push_toy_car.yaml b/dataset_info/Airbot_MMK2_push_toy_car.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b96f3725228525595ac501cd33263483cb889683 --- /dev/null +++ b/dataset_info/Airbot_MMK2_push_toy_car.yaml @@ -0,0 +1,940 @@ +dataset_name: Airbot_MMK2_push_toy_car +dataset_uuid: 1872d0f2-3819-4b1a-8ade-d10d50a740ab +scene_type: +- 'level1: household' +- 'level2: living_room' +- household +- living_room +atomic_actions: +- push +end_effector_type: +- five_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: toy_car + level1: toy + level2: toy_car + level3: null + level4: null + level5: null +path: Airbot_MMK2_push_toy_car +video_url: ./assets/videos/Airbot_MMK2_push_toy_car.mp4 +thumbnail_url: ./assets/thumbnails/Airbot_MMK2_push_toy_car.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 175.6MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Airbot_MMK2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 6897 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: push the toy car by hand. +sub_tasks: +- End +- Static +- Push the toy car from left to right with the left gripper +- Abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Airbot_MMK2_push_toy_car_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 889 + dataset_name: Airbot_MMK2_push_toy_car + dataset_uuid: 1872d0f2-3819-4b1a-8ade-d10d50a740ab + device_model: Airbot_MMK2 + end_effector_type: five_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_push_toy_car/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_push_toy_car + scene_types: + - 'level1: household' + - 'level2: living_room' + - household + - living_room + atomic_actions: + - push + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: toy_car + level1: toy + level2: toy_car + level3: null + level4: null + level5: null + total_episodes: 50 + yaml: + dataset_name: Airbot_MMK2_push_toy_car + dataset_uuid: null + task_descriptions: + - push the toy car by hand. + result: success + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + atomic_actions: + - push + objects: + - object_name: table + level1: home_storage + level2: table + level3: null + level4: null + level5: null + - object_name: toy_car + level1: toy + level2: toy_car + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + meta: + robot_type: Airbot_MMK2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 6897 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_storage_bottle_part.yaml b/dataset_info/Airbot_MMK2_storage_bottle_part.yaml new file mode 100644 index 0000000000000000000000000000000000000000..11b5bcd77601e792e08d19658111edfeaa6e478b --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_bottle_part.yaml @@ -0,0 +1,970 @@ +dataset_name: Airbot_MMK2_storage_bottle_part +dataset_uuid: 85e60000-e33a-446b-a956-ce91d77b5f1c +scene_type: +- 'level2: supermarket' +- 'level1: commercial_convenience' +- supermarket +- commercial_convenience +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: carton + level1: laboratory_supplies + level2: carton + level3: null + level4: null + level5: null +- object_name: water_bottle + level1: beverages + level2: water_bottle + level3: null + level4: null + level5: null +- object_name: handle + level1: laboratory_supplies + level2: handle + level3: null + level4: null + level5: null +path: Airbot_MMK2_storage_bottle_part +video_url: ./assets/videos/Airbot_MMK2_storage_bottle_part.mp4 +thumbnail_url: ./assets/thumbnails/Airbot_MMK2_storage_bottle_part.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 508.0MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Airbot_MMK2 +codebase_version: v2.1 +statistics: + total_episodes: 49 + total_frames: 10499 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:48 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: put the water bottle and handle into the cardboard box. +sub_tasks: +- Grasp the water bottle with the right gripper +- Place the water bottle into the cardboard box with the right gripper +- Lift the water bottle with the right gripper +- 'Lift the remote control clip with the left gripper ' +- Abnormal +- Static +- Place the remote control clip into the cardboard box with the left gripper +- End +- 'Grasp the remote control clip with the left gripper ' +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Airbot_MMK2_storage_bottle_part_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 983 + dataset_name: Airbot_MMK2_storage_bottle_part + dataset_uuid: 85e60000-e33a-446b-a956-ce91d77b5f1c + device_model: Airbot_MMK2 + end_effector_type: five_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_storage_bottle_part/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_storage_bottle_part + scene_types: + - 'level2: supermarket' + - 'level1: commercial_convenience' + - supermarket + - commercial_convenience + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: carton + level1: laboratory_supplies + level2: carton + level3: null + level4: null + level5: null + - object_name: water_bottle + level1: beverages + level2: water_bottle + level3: null + level4: null + level5: null + - object_name: handle + level1: laboratory_supplies + level2: handle + level3: null + level4: null + level5: null + total_episodes: 49 + yaml: + dataset_name: Airbot_MMK2_storage_bottle_part + dataset_uuid: null + task_descriptions: + - put the water bottle and handle into the cardboard box. + result: success + scene_type: + level1: commercial_convenience + level2: supermarket + level3: null + level4: null + level5: null + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: water_bottle + level1: beverages + level2: water_bottle + level3: null + level4: null + level5: null + - object_name: handle + level1: laboratory_supplies + level2: handle + level3: null + level4: null + level5: null + - object_name: carton + level1: laboratory_supplies + level2: carton + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + meta: + robot_type: Airbot_MMK2 + codebase_version: v2.1 + statistics: + total_episodes: 49 + total_frames: 10499 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:48 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_storage_bowl_wet_wipes.yaml b/dataset_info/Airbot_MMK2_storage_bowl_wet_wipes.yaml new file mode 100644 index 0000000000000000000000000000000000000000..da5b1d1f65bc798362009305b157d3447ffdc59f --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_bowl_wet_wipes.yaml @@ -0,0 +1,985 @@ +dataset_name: Airbot_MMK2_storage_bowl_wet_wipes +dataset_uuid: 02ae73d2-a9a0-465e-af14-eabdbfb11aa1 +scene_type: +- 'level2: supermarket' +- 'level1: commercial_convenience' +- supermarket +- commercial_convenience +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: rectangular_plate + level1: kitchen_supplies + level2: rectangular_plate + level3: null + level4: null + level5: null +- object_name: plastic_bowls + level1: kitchen_supplies + level2: plastic_bowls + level3: null + level4: null + level5: null +- object_name: wet_tissue_paper + level1: kitchen_supplies + level2: wet_tissue_paper + level3: null + level4: null + level5: null +path: Airbot_MMK2_storage_bowl_wet_wipes +video_url: ./assets/videos/Airbot_MMK2_storage_bowl_wet_wipes.mp4 +thumbnail_url: ./assets/thumbnails/Airbot_MMK2_storage_bowl_wet_wipes.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 425.0MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Airbot_MMK2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 13058 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: put the bowl and wet wipes on the plate. +sub_tasks: +- Place the wet wipes into the bowl with the left gripper +- Place the bowl on the plate with the right gripper +- Static +- Grasp the wet wipes with the left gripper +- End +- Grasp the bowl with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Airbot_MMK2_storage_bowl_wet_wipes_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 913 + dataset_name: Airbot_MMK2_storage_bowl_wet_wipes + dataset_uuid: 02ae73d2-a9a0-465e-af14-eabdbfb11aa1 + device_model: Airbot_MMK2 + end_effector_type: five_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_storage_bowl_wet_wipes/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_storage_bowl_wet_wipes + scene_types: + - 'level2: supermarket' + - 'level1: commercial_convenience' + - supermarket + - commercial_convenience + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: rectangular_plate + level1: kitchen_supplies + level2: rectangular_plate + level3: null + level4: null + level5: null + - object_name: plastic_bowls + level1: kitchen_supplies + level2: plastic_bowls + level3: null + level4: null + level5: null + - object_name: wet_tissue_paper + level1: kitchen_supplies + level2: wet_tissue_paper + level3: null + level4: null + level5: null + total_episodes: 50 + yaml: + dataset_name: Airbot_MMK2_storage_bowl_wet_wipes + dataset_uuid: null + task_descriptions: + - put the bowl and wet wipes on the plate. + result: success + scene_type: + level1: commercial_convenience + level2: supermarket + level3: null + level4: null + level5: null + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: home_storage + level2: table + level3: null + level4: null + level5: null + - object_name: plastic_bowls + level1: kitchen_supplies + level2: plastic_bowls + level3: null + level4: null + level5: null + - object_name: rectangular_plate + level1: kitchen_supplies + level2: rectangular_plate + level3: null + level4: null + level5: null + - object_name: wet_tissue_paper + level1: kitchen_supplies + level2: wet_tissue_paper + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + meta: + robot_type: Airbot_MMK2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 13058 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_storage_braised_pork_belly_shrimp.yaml b/dataset_info/Airbot_MMK2_storage_braised_pork_belly_shrimp.yaml new file mode 100644 index 0000000000000000000000000000000000000000..64302e23be00a0210af2681e31ac42790eaa7a19 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_braised_pork_belly_shrimp.yaml @@ -0,0 +1,967 @@ +dataset_name: Airbot_MMK2_storage_braised_pork_belly_shrimp +dataset_uuid: bc8cb44a-0607-4499-af4b-29d23baeed6f +scene_type: +- kitchen +- 'level1: household' +- 'level2: kitchen' +- household +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null +- object_name: shrimp + level1: prepared_dishes + level2: shrimp + level3: null + level4: null + level5: null +- object_name: braised_pork + level1: prepared_dishes + level2: braised_pork + level3: null + level4: null + level5: null +path: Airbot_MMK2_storage_braised_pork_belly_shrimp +video_url: ./assets/videos/Airbot_MMK2_storage_braised_pork_belly_shrimp.mp4 +thumbnail_url: ./assets/thumbnails/Airbot_MMK2_storage_braised_pork_belly_shrimp.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 277.5MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Airbot_MMK2 +codebase_version: v2.1 +statistics: + total_episodes: 38 + total_frames: 5834 + total_tasks: 1 + total_videos: 152 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:37 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: put the braised pork and shrimp on the plate +sub_tasks: +- Place the braised pork in brown sauce into the plate with the left gripper +- Grasp the shrimp with the right gripper +- Place the shrimp into the plate with the right gripper +- Grasp the cake from the table and with the left gripper +- End +- Grasp the braised pork in brown sauce with the left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Airbot_MMK2_storage_braised_pork_belly_shrimp_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 915 + dataset_name: Airbot_MMK2_storage_braised_pork_belly_shrimp + dataset_uuid: bc8cb44a-0607-4499-af4b-29d23baeed6f + device_model: Airbot_MMK2 + end_effector_type: five_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_storage_braised_pork_belly_shrimp/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_storage_braised_pork_belly_shrimp + scene_types: + - kitchen + - 'level1: household' + - 'level2: kitchen' + - household + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null + - object_name: shrimp + level1: prepared_dishes + level2: shrimp + level3: null + level4: null + level5: null + - object_name: braised_pork + level1: prepared_dishes + level2: braised_pork + level3: null + level4: null + level5: null + total_episodes: 38 + yaml: + dataset_name: Airbot_MMK2_storage_braised_pork_belly_shrimp + dataset_uuid: null + task_descriptions: + - put the braised pork and shrimp on the plate + result: success + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: shrimp + level1: prepared_dishes + level2: shrimp + level3: null + level4: null + level5: null + - object_name: braised_pork + level1: prepared_dishes + level2: braised_pork + level3: null + level4: null + level5: null + - object_name: plate + level1: plates + level2: plate + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + meta: + robot_type: Airbot_MMK2 + codebase_version: v2.1 + statistics: + total_episodes: 38 + total_frames: 5834 + total_tasks: 1 + total_videos: 152 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:37 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_storage_cookie_toy_car.yaml b/dataset_info/Airbot_MMK2_storage_cookie_toy_car.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e3142f27de2e34c1d65d6d4c320617c616e8dd54 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_cookie_toy_car.yaml @@ -0,0 +1,988 @@ +dataset_name: Airbot_MMK2_storage_cookie_toy_car +dataset_uuid: cd07af68-cd83-4eaa-9ad1-c0b0926ab380 +scene_type: +- 'level1: household' +- 'level2: living_room' +- household +- living_room +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: basket + level1: home_storage + level2: basket + level3: null + level4: null + level5: null +- object_name: toy_car + level1: toy + level2: toy_car + level3: null + level4: null + level5: null +- object_name: cookie + level1: snacks + level2: cookie + level3: null + level4: null + level5: null +path: Airbot_MMK2_storage_cookie_toy_car +video_url: ./assets/videos/Airbot_MMK2_storage_cookie_toy_car.mp4 +thumbnail_url: ./assets/thumbnails/Airbot_MMK2_storage_cookie_toy_car.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 277.6MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Airbot_MMK2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 8388 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Pick up the toy car with one hand and put it in the basket, then pick up the + cookie with the other hand and put it in the basket. +sub_tasks: +- Lift the toy car with left gripper and lift the cookies with the right gripper +- Grasp the toy car with left gripper and grasp the cookies with the right gripper +- Place the toy car on the pink plate with the left gripper +- Abnormal +- Place the cookies on the pink plate with the right gripper +- Static +- End +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Airbot_MMK2_storage_cookie_toy_car_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 989 + dataset_name: Airbot_MMK2_storage_cookie_toy_car + dataset_uuid: cd07af68-cd83-4eaa-9ad1-c0b0926ab380 + device_model: Airbot_MMK2 + end_effector_type: five_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_storage_cookie_toy_car/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_storage_cookie_toy_car + scene_types: + - 'level1: household' + - 'level2: living_room' + - household + - living_room + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: basket + level1: home_storage + level2: basket + level3: null + level4: null + level5: null + - object_name: toy_car + level1: toy + level2: toy_car + level3: null + level4: null + level5: null + - object_name: cookie + level1: snacks + level2: cookie + level3: null + level4: null + level5: null + total_episodes: 50 + yaml: + dataset_name: Airbot_MMK2_storage_cookie_toy_car + dataset_uuid: null + task_descriptions: + - pick up the toy car with left hand and put it in the basket, then pick up the + cookie with right hand and put it in the basket. + result: success + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: basket + level1: home_storage + level2: basket + level3: null + level4: null + level5: null + - object_name: toy_car + level1: toy + level2: toy_car + level3: null + level4: null + level5: null + - object_name: cookie + level1: snacks + level2: cookie + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + meta: + robot_type: Airbot_MMK2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 8388 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_storage_cup.yaml b/dataset_info/Airbot_MMK2_storage_cup.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9bf8e9649860c05b409e262caac405b98e28f984 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_cup.yaml @@ -0,0 +1,962 @@ +dataset_name: Airbot_MMK2_storage_cup +dataset_uuid: dc43d1ff-f192-4e89-85d8-a8f3705cd872 +scene_type: +- kitchen +- level1 +- level2 +- level3 +- level4 +- level5 +- 'level1: household' +- 'level2: kitchen' +- household +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: any_cup + level1: cups + level2: any_cup + level3: null + level4: null + level5: null +- object_name: basin + level1: storage_utensils + level2: basin + level3: null + level4: null + level5: null +path: Airbot_MMK2_storage_cup +video_url: ./assets/videos/Airbot_MMK2_storage_cup.mp4 +thumbnail_url: ./assets/thumbnails/Airbot_MMK2_storage_cup.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 802.0MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Airbot_MMK2 +codebase_version: v2.1 +statistics: + total_episodes: 99 + total_frames: 20190 + total_tasks: 1 + total_videos: 396 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:98 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: put the two cups in the basin. +sub_tasks: +- place the cup in the yellow basket use the right gripper +- Grasp the cup the left gripper +- Lift the cup the right gripper +- place the cup in the basin use the left gripper +- Grasp the cup the right gripper +- place the cup in the yellow basket use the left gripper +- place the cup in the basin use the right gripper +- Static +- Lift the cup the left gripper +- End +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Airbot_MMK2_storage_cup_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 859 + dataset_name: Airbot_MMK2_storage_cup + dataset_uuid: dc43d1ff-f192-4e89-85d8-a8f3705cd872 + device_model: Airbot_MMK2 + end_effector_type: five_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_storage_cup/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_storage_cup + scene_types: + - kitchen + - level1 + - level2 + - level3 + - level4 + - level5 + - 'level1: household' + - 'level2: kitchen' + - household + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: any_cup + level1: cups + level2: any_cup + level3: null + level4: null + level5: null + - object_name: basin + level1: storage_utensils + level2: basin + level3: null + level4: null + level5: null + total_episodes: 99 + yaml: + dataset_name: Airbot_MMK2_storage_cup + dataset_uuid: null + task_descriptions: + - put the two cups in the basin. + result: success + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: any_cup + level1: cups + level2: any_cup + level3: null + level4: null + level5: null + - object_name: basin + level1: storage_utensils + level2: basin + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + meta: + robot_type: Airbot_MMK2 + codebase_version: v2.1 + statistics: + total_episodes: 99 + total_frames: 20190 + total_tasks: 1 + total_videos: 396 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:98 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_storage_cup_rubik_s_cube.yaml b/dataset_info/Airbot_MMK2_storage_cup_rubik_s_cube.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2e2a9d814396bf3e70fc42cfd1ca9d50129e60f2 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_cup_rubik_s_cube.yaml @@ -0,0 +1,969 @@ +dataset_name: Airbot_MMK2_storage_cup_rubik's_cube +dataset_uuid: 6a7c4463-732e-44f8-a049-646bab9ac3e4 +scene_type: +- 'level1: household' +- 'level2: living_room' +- household +- living_room +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null +- object_name: cup + level1: kitchen_supplies + level2: cup + level3: null + level4: null + level5: null +- object_name: rubik's_cube + level1: toys + level2: rubik's_cube + level3: null + level4: null + level5: null +path: Airbot_MMK2_storage_cup_rubik_s_cube +video_url: ./assets/videos/Airbot_MMK2_storage_cup_rubik_s_cube.mp4 +thumbnail_url: ./assets/thumbnails/Airbot_MMK2_storage_cup_rubik_s_cube.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 386.7MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Airbot_MMK2 +codebase_version: v2.1 +statistics: + total_episodes: 47 + total_frames: 13787 + total_tasks: 1 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:46 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Pick up the rubik's cube and place it into the plate, then set the cup on top + of the cube. +sub_tasks: +- Grasp the paper cup with the left gripper +- Place the paper cup on the magic cube with the left gripper +- Place the magic cube on the plate with the right gripper +- Abnormal +- Grasp the magic cube with the right gripper +- End +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Airbot_MMK2_storage_cup_rubik_s_cube_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 922 + dataset_name: Airbot_MMK2_storage_cup_rubik's_cube + dataset_uuid: 6a7c4463-732e-44f8-a049-646bab9ac3e4 + device_model: Airbot_MMK2 + end_effector_type: five_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_storage_cup_rubik's_cube/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_storage_cup_rubik_s_cube + scene_types: + - 'level1: household' + - 'level2: living_room' + - household + - living_room + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null + - object_name: cup + level1: kitchen_supplies + level2: cup + level3: null + level4: null + level5: null + - object_name: rubik's_cube + level1: toys + level2: rubik's_cube + level3: null + level4: null + level5: null + total_episodes: 47 + yaml: + dataset_name: Airbot_MMK2_storage_cup_rubik's_cube + dataset_uuid: null + task_descriptions: + - put the rubik's Cube into the plate with right hand and place the cup on top + of the cube with left hand. + result: success + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null + - object_name: cup + level1: kitchen_supplies + level2: cup + level3: null + level4: null + level5: null + - object_name: rubik's_cube + level1: toys + level2: rubik's_cube + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + meta: + robot_type: Airbot_MMK2 + codebase_version: v2.1 + statistics: + total_episodes: 47 + total_frames: 13787 + total_tasks: 1 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:46 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_storage_egg_bowl.yaml b/dataset_info/Airbot_MMK2_storage_egg_bowl.yaml new file mode 100644 index 0000000000000000000000000000000000000000..32e2c4940088b0b91d7c828c920d7d0f2deda888 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_egg_bowl.yaml @@ -0,0 +1,949 @@ +dataset_name: Airbot_MMK2_storage_egg_bowl +dataset_uuid: 63bd0ac6-e8da-4877-a892-0fcdd1abf2f2 +scene_type: +- kitchen +- 'level1: household' +- 'level2: kitchen' +- household +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: bowl + level1: bowl + level2: bowl + level3: null + level4: null + level5: null +- object_name: egg + level1: food + level2: eggs + level3: null + level4: null + level5: null +path: Airbot_MMK2_storage_egg_bowl +video_url: ./assets/videos/Airbot_MMK2_storage_egg_bowl.mp4 +thumbnail_url: ./assets/thumbnails/Airbot_MMK2_storage_egg_bowl.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 444.5MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Airbot_MMK2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 11572 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: use hands to pick the egg on the table and place them into the bowl. +sub_tasks: +- Grasp the egg with the left gripper +- Place the egg into bowl with the right gripper +- Abnormal +- Place the egg into bowl with the left gripper +- End +- Grasp the egg with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Airbot_MMK2_storage_egg_bowl_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 899 + dataset_name: Airbot_MMK2_storage_egg_bowl + dataset_uuid: 63bd0ac6-e8da-4877-a892-0fcdd1abf2f2 + device_model: Airbot_MMK2 + end_effector_type: five_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_storage_egg_bowl/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_storage_egg_bowl + scene_types: + - kitchen + - 'level1: household' + - 'level2: kitchen' + - household + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: bowl + level1: bowl + level2: bowl + level3: null + level4: null + level5: null + - object_name: egg + level1: food + level2: eggs + level3: null + level4: null + level5: null + total_episodes: 50 + yaml: + dataset_name: Airbot_MMK2_storage_egg_bowl + dataset_uuid: null + task_descriptions: + - use hands to pick the egg on the table and place them into the bowl. + result: success + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: egg + level1: food + level2: egg + level3: null + level4: null + level5: null + - object_name: bowl + level1: kitchen_supplies + level2: plastic_bowls + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + meta: + robot_type: Airbot_MMK2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 11572 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_storage_egg_plate.yaml b/dataset_info/Airbot_MMK2_storage_egg_plate.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d2131fd66c1562673baac0aee204cdcc6a63a5a8 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_egg_plate.yaml @@ -0,0 +1,950 @@ +dataset_name: Airbot_MMK2_storage_egg_plate +dataset_uuid: 74d2c5c6-30c7-4ce7-b000-f1e58a75fc97 +scene_type: +- kitchen +- 'level1: household' +- 'level2: kitchen' +- household +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: egg + level1: food + level2: eggs + level3: null + level4: null + level5: null +- object_name: white_small_plate + level1: plates + level2: white_small_plate + level3: null + level4: null + level5: null +path: Airbot_MMK2_storage_egg_plate +video_url: ./assets/videos/Airbot_MMK2_storage_egg_plate.mp4 +thumbnail_url: ./assets/thumbnails/Airbot_MMK2_storage_egg_plate.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 345.3MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Airbot_MMK2 +codebase_version: v2.1 +statistics: + total_episodes: 45 + total_frames: 7564 + total_tasks: 1 + total_videos: 180 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:44 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: use hands to pick the egg on the table and place them into the plate. +sub_tasks: +- Place the egg into the plate with the right gripper +- Grasp the egg with the left gripper +- Place the egg into the plate with the left gripper +- Abnormal +- Place the cake into the plate with the right gripper +- End +- Grasp the egg with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Airbot_MMK2_storage_egg_plate_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 896 + dataset_name: Airbot_MMK2_storage_egg_plate + dataset_uuid: 74d2c5c6-30c7-4ce7-b000-f1e58a75fc97 + device_model: Airbot_MMK2 + end_effector_type: five_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_storage_egg_plate/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_storage_egg_plate + scene_types: + - kitchen + - 'level1: household' + - 'level2: kitchen' + - household + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: egg + level1: food + level2: eggs + level3: null + level4: null + level5: null + - object_name: white_small_plate + level1: plates + level2: white_small_plate + level3: null + level4: null + level5: null + total_episodes: 45 + yaml: + dataset_name: Airbot_MMK2_storage_egg_plate + dataset_uuid: null + task_descriptions: + - use hands to pick the egg on the table and place them into the plate. + result: success + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: egg + level1: food + level2: egg + level3: null + level4: null + level5: null + - object_name: white_small_plate + level1: kitchen_supplies + level2: plates + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + meta: + robot_type: Airbot_MMK2 + codebase_version: v2.1 + statistics: + total_episodes: 45 + total_frames: 7564 + total_tasks: 1 + total_videos: 180 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:44 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_storage_electronics_yellow_baket.yaml b/dataset_info/Airbot_MMK2_storage_electronics_yellow_baket.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bf5fa9e1e0a2a1eb653c441b9fd66058054fb55f --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_electronics_yellow_baket.yaml @@ -0,0 +1,955 @@ +dataset_name: Airbot_MMK2_storage_electronics_yellow_baket +dataset_uuid: d0a7a2fd-d149-44ca-9821-1ba270952e30 +scene_type: +- 'level1: household' +- 'level2: living_room' +- household +- living_room +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: basket + level1: home_storage + level2: basket + level3: null + level4: null + level5: null +- object_name: paper_boxes + level1: packaging + level2: paper_boxes + level3: null + level4: null + level5: null +path: Airbot_MMK2_storage_electronics_yellow_baket +video_url: ./assets/videos/Airbot_MMK2_storage_electronics_yellow_baket.mp4 +thumbnail_url: ./assets/thumbnails/Airbot_MMK2_storage_electronics_yellow_baket.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 878.9MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Airbot_MMK2 +codebase_version: v2.1 +statistics: + total_episodes: 99 + total_frames: 25739 + total_tasks: 1 + total_videos: 396 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:98 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: put the electronic products components into the yellow basket. +sub_tasks: +- Place the calculator box into the storage box with the left gripper +- Grasp the calculator box with the left gripper +- Place the calculator box into the storage box with the right gripper +- Place the phone case box into the storage box with the right gripper +- Place the phone case box in the yellow box with the right gripper +- Place the phone case box into the storage box with the left gripper +- Abnormal +- Place the calculator box in the yellow box with the left gripper +- Grasp the calculator box with the right gripper +- Grasp the phone case box with the right gripper +- End +- Grasp the phone case box with the left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Airbot_MMK2_storage_electronics_yellow_baket_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 974 + dataset_name: Airbot_MMK2_storage_electronics_yellow_baket + dataset_uuid: d0a7a2fd-d149-44ca-9821-1ba270952e30 + device_model: Airbot_MMK2 + end_effector_type: five_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_storage_electronics_yellow_baket/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_storage_electronics_yellow_baket + scene_types: + - 'level1: household' + - 'level2: living_room' + - household + - living_room + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: basket + level1: home_storage + level2: basket + level3: null + level4: null + level5: null + - object_name: paper_boxes + level1: packaging + level2: paper_boxes + level3: null + level4: null + level5: null + total_episodes: 99 + yaml: + dataset_name: Airbot_MMK2_storage_electronics_yellow_baket + dataset_uuid: null + task_descriptions: + - put the electronic products components into the yellow basket. + result: success + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: paper_boxes + level1: packaging + level2: paper_boxes + level3: null + level4: null + level5: null + - object_name: basket + level1: baskets + level2: basket + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + meta: + robot_type: Airbot_MMK2 + codebase_version: v2.1 + statistics: + total_episodes: 99 + total_frames: 25739 + total_tasks: 1 + total_videos: 396 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:98 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_storage_peach_pear.yaml b/dataset_info/Airbot_MMK2_storage_peach_pear.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f55287368ca45cd38bbabe72684113f6a6701033 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_peach_pear.yaml @@ -0,0 +1,969 @@ +dataset_name: Airbot_MMK2_storage_peach_pear +dataset_uuid: c48b833c-02bd-4fd5-a2c2-5b03bf2c2936 +scene_type: +- kitchen +- 'level1: household' +- 'level2: kitchen' +- household +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: peach + level1: fruits + level2: peach + level3: null + level4: null + level5: null +- object_name: pear + level1: fruits + level2: pear + level3: null + level4: null + level5: null +- object_name: storage_box + level1: storage_utensils + level2: storage_box + level3: null + level4: null + level5: null +path: Airbot_MMK2_storage_peach_pear +video_url: ./assets/videos/Airbot_MMK2_storage_peach_pear.mp4 +thumbnail_url: ./assets/thumbnails/Airbot_MMK2_storage_peach_pear.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 114.2MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Airbot_MMK2 +codebase_version: v2.1 +statistics: + total_episodes: 12 + total_frames: 2804 + total_tasks: 1 + total_videos: 48 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:11 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Pick up the peach and put it in the storage box, then pick up the pear and + put it in the storage box. +sub_tasks: +- Grasp a peach with the left gripper +- Grasp a pear with the right gripper +- Abnormal +- Place the peach into the left compartment of the storage box with the left gripper +- Place the pear into the right compartment of the storage box with the right gripper +- End +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Airbot_MMK2_storage_peach_pear_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 911 + dataset_name: Airbot_MMK2_storage_peach_pear + dataset_uuid: c48b833c-02bd-4fd5-a2c2-5b03bf2c2936 + device_model: Airbot_MMK2 + end_effector_type: five_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_storage_peach_pear/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_storage_peach_pear + scene_types: + - kitchen + - 'level1: household' + - 'level2: kitchen' + - household + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: peach + level1: fruits + level2: peach + level3: null + level4: null + level5: null + - object_name: pear + level1: fruits + level2: pear + level3: null + level4: null + level5: null + - object_name: storage_box + level1: storage_utensils + level2: storage_box + level3: null + level4: null + level5: null + total_episodes: 48 + yaml: + dataset_name: Airbot_MMK2_storage_peach_pear + dataset_uuid: null + task_descriptions: + - pick up the peach with left hand and put it in the storage box, and pick up + the pear with right hand and put it in the storage box. + result: success + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: pear + level1: fruits + level2: pear + level3: null + level4: null + level5: null + - object_name: peach + level1: fruits + level2: peach + level3: null + level4: null + level5: null + - object_name: storage_box + level1: storage_utensils + level2: storage_box + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + meta: + robot_type: Airbot_MMK2 + codebase_version: v2.1 + statistics: + total_episodes: 12 + total_frames: 2804 + total_tasks: 1 + total_videos: 48 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:11 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_storage_tools.yaml b/dataset_info/Airbot_MMK2_storage_tools.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db17c58e99f5cfd28eea6ed712a7f574727be3ab --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_tools.yaml @@ -0,0 +1,978 @@ +dataset_name: Airbot_MMK2_storage_tools +dataset_uuid: cd0a7e21-d440-45f4-b396-c9f746fc5dc7 +scene_type: +- factory +- industry +- level1 +- level2 +- level3 +- level4 +- level5 +- 'level1: industry' +- 'level2: factory' +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: utility_knife + level1: kitchen_supplies + level2: utility_knife + level3: null + level4: null + level5: null +- object_name: pliers + level1: daily_necessities + level2: pliers + level3: null + level4: null + level5: null +- object_name: plates + level1: kitchen_supplies + level2: plates + level3: null + level4: null + level5: null +path: Airbot_MMK2_storage_tools +video_url: ./assets/videos/Airbot_MMK2_storage_tools.mp4 +thumbnail_url: ./assets/thumbnails/Airbot_MMK2_storage_tools.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 221.3MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Airbot_MMK2 +codebase_version: v2.1 +statistics: + total_episodes: 49 + total_frames: 7910 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:48 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: pick up the plier and the utility knife on the table by hand and place them + into the white tray. +sub_tasks: +- Place the plier into white basket with the left gripper +- Grasp the plier with the left gripper +- Static +- Place the utility knife into white basket with the right gripper +- Grasp the utility knife with the right gripper +- End +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Airbot_MMK2_storage_tools_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 849 + dataset_name: Airbot_MMK2_storage_tools + dataset_uuid: cd0a7e21-d440-45f4-b396-c9f746fc5dc7 + device_model: Airbot_MMK2 + end_effector_type: five_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_storage_tools/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_storage_tools + scene_types: + - factory + - industry + - level1 + - level2 + - level3 + - level4 + - level5 + - 'level1: industry' + - 'level2: factory' + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: utility_knife + level1: kitchen_supplies + level2: utility_knife + level3: null + level4: null + level5: null + - object_name: pliers + level1: daily_necessities + level2: pliers + level3: null + level4: null + level5: null + - object_name: plates + level1: kitchen_supplies + level2: plates + level3: null + level4: null + level5: null + total_episodes: 49 + yaml: + dataset_name: Airbot_MMK2_storage_tools + dataset_uuid: null + task_descriptions: + - pick up the plier and the utility knife on the table by hand and place them + into the white tray. + result: success + scene_type: + level1: industry + level2: factory + level3: null + level4: null + level5: null + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: utility_knife + level1: kitchen_supplies + level2: utility_knife + level3: null + level4: null + level5: null + - object_name: pliers + level1: daily_necessities + level2: pliers + level3: null + level4: null + level5: null + - object_name: plates + level1: kitchen_supplies + level2: plates + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + meta: + robot_type: Airbot_MMK2 + codebase_version: v2.1 + statistics: + total_episodes: 49 + total_frames: 7910 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:48 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_storage_tumbler_umbrella.yaml b/dataset_info/Airbot_MMK2_storage_tumbler_umbrella.yaml new file mode 100644 index 0000000000000000000000000000000000000000..25039ce3f4d1e231da360bbdff9576c2379ed774 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_tumbler_umbrella.yaml @@ -0,0 +1,987 @@ +dataset_name: Airbot_MMK2_storage_tumbler_umbrella +dataset_uuid: 5c4230ea-9483-4fc9-b96a-7e9b146ed742 +scene_type: +- 'level1: household' +- 'level2: living_room' +- household +- living_room +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: basket + level1: home_storage + level2: basket + level3: null + level4: null + level5: null +- object_name: umbrella + level1: daily_necessities + level2: umbrella + level3: null + level4: null + level5: null +- object_name: tumbler + level1: container + level2: tumbler + level3: null + level4: null + level5: null +path: Airbot_MMK2_storage_tumbler_umbrella +video_url: ./assets/videos/Airbot_MMK2_storage_tumbler_umbrella.mp4 +thumbnail_url: ./assets/thumbnails/Airbot_MMK2_storage_tumbler_umbrella.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 542.1MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Airbot_MMK2 +codebase_version: v2.1 +statistics: + total_episodes: 48 + total_frames: 14373 + total_tasks: 1 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:47 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Pick up the umbrella and put it in the basket, then pick up the thermos and + put it in the basket. +sub_tasks: +- Place the cup into the white basket with the right gripper +- Grasp the umbrella with the left gripper +- Place the umbrella into the white basket with the left gripper +- Static +- End +- Grasp the cup with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Airbot_MMK2_storage_tumbler_umbrella_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 987 + dataset_name: Airbot_MMK2_storage_tumbler_umbrella + dataset_uuid: 5c4230ea-9483-4fc9-b96a-7e9b146ed742 + device_model: Airbot_MMK2 + end_effector_type: five_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_storage_tumbler_umbrella/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_storage_tumbler_umbrella + scene_types: + - 'level1: household' + - 'level2: living_room' + - household + - living_room + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: basket + level1: home_storage + level2: basket + level3: null + level4: null + level5: null + - object_name: umbrella + level1: daily_necessities + level2: umbrella + level3: null + level4: null + level5: null + - object_name: tumbler + level1: container + level2: tumbler + level3: null + level4: null + level5: null + total_episodes: 48 + yaml: + dataset_name: Airbot_MMK2_storage_tumbler_umbrella + dataset_uuid: null + task_descriptions: + - pick up the umbrella with left hand and put it in the basket, then use right + hand to pick up the thermos and put it in the basket. + result: success + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: basket + level1: home_storage + level2: basket + level3: null + level4: null + level5: null + - object_name: umbrella + level1: tool + level2: umbrella + level3: null + level4: null + level5: null + - object_name: tumbler + level1: container + level2: tumbler + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + meta: + robot_type: Airbot_MMK2 + codebase_version: v2.1 + statistics: + total_episodes: 48 + total_frames: 14373 + total_tasks: 1 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:47 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_swap_bottle_wet_wipes_plate.yaml b/dataset_info/Airbot_MMK2_swap_bottle_wet_wipes_plate.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f349aa49c332efa4b95b97350311a3b3551cfb5d --- /dev/null +++ b/dataset_info/Airbot_MMK2_swap_bottle_wet_wipes_plate.yaml @@ -0,0 +1,978 @@ +dataset_name: Airbot_MMK2_swap_bottle_wet_wipes_plate +dataset_uuid: fc62a1e5-4fd2-4b3f-8cf6-54d7ca06e70b +scene_type: +- kitchen +- level1 +- level2 +- level3 +- level4 +- level5 +- 'level1: household' +- 'level2: kitchen' +- household +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null +- object_name: water_bottle + level1: beverages + level2: water_bottle + level3: null + level4: null + level5: null +- object_name: wipes + level1: kitchen_supplies + level2: wipes + level3: null + level4: null + level5: null +path: Airbot_MMK2_swap_bottle_wet_wipes_plate +video_url: ./assets/videos/Airbot_MMK2_swap_bottle_wet_wipes_plate.mp4 +thumbnail_url: ./assets/thumbnails/Airbot_MMK2_swap_bottle_wet_wipes_plate.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 489.9MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Airbot_MMK2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 15726 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Take the bottle out of the plate with one hand and put the wet wipes in with + the other. +sub_tasks: +- Place the wet wipes into the plate with the right gripper +- Place the Vitamin B water on the table with the left gripper +- Grasp the Vitamin B water in the plate with the left gripper +- End +- Grasp the wet wipes with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Airbot_MMK2_swap_bottle_wet_wipes_plate_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 867 + dataset_name: Airbot_MMK2_swap_bottle_wet_wipes_plate + dataset_uuid: fc62a1e5-4fd2-4b3f-8cf6-54d7ca06e70b + device_model: Airbot_MMK2 + end_effector_type: five_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_swap_bottle_wet_wipes_plate/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_swap_bottle_wet_wipes_plate + scene_types: + - kitchen + - level1 + - level2 + - level3 + - level4 + - level5 + - 'level1: household' + - 'level2: kitchen' + - household + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null + - object_name: water_bottle + level1: beverages + level2: water_bottle + level3: null + level4: null + level5: null + - object_name: wipes + level1: kitchen_supplies + level2: wipes + level3: null + level4: null + level5: null + total_episodes: 50 + yaml: + dataset_name: Airbot_MMK2_swap_bottle_wet_wipes_plate + dataset_uuid: null + task_descriptions: + - take the bottle out of the plate with left hand and put the wet wipes in with + right hand. + result: success + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: wipes + level1: kitchen_supplies + level2: wipes + level3: null + level4: null + level5: null + - object_name: water_bottle + level1: beverages + level2: water_bottle + level3: null + level4: null + level5: null + - object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + meta: + robot_type: Airbot_MMK2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 15726 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_swap_sponge_paper_box_plate.yaml b/dataset_info/Airbot_MMK2_swap_sponge_paper_box_plate.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6ac645dc6ca52b3d147a499e1149983cee9c8395 --- /dev/null +++ b/dataset_info/Airbot_MMK2_swap_sponge_paper_box_plate.yaml @@ -0,0 +1,981 @@ +dataset_name: Airbot_MMK2_swap_sponge_paper_box_plate +dataset_uuid: 77b2c99f-d75c-4deb-8cbc-b00b48b72d73 +scene_type: +- kitchen +- level1 +- level2 +- level3 +- level4 +- level5 +- 'level1: household' +- 'level2: kitchen' +- household +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null +- object_name: paper_boxes + level1: packaging + level2: paper_boxes + level3: null + level4: null + level5: null +- object_name: cleaning_sponge + level1: daily_necessities + level2: cleaning_sponge + level3: null + level4: null + level5: null +path: Airbot_MMK2_swap_sponge_paper_box_plate +video_url: ./assets/videos/Airbot_MMK2_swap_sponge_paper_box_plate.mp4 +thumbnail_url: ./assets/thumbnails/Airbot_MMK2_swap_sponge_paper_box_plate.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 272.1MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Airbot_MMK2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 8731 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Take the sponge out of the plate with one hand and put the box in with the + other. +sub_tasks: +- Place the sponge on the table with the left gripper +- Grasp the mouse box with the right gripper +- Abnormal +- Static +- Place the mouse box into the plate with the right gripper +- End +- Grasp the sponge in the plate with the left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Airbot_MMK2_swap_sponge_paper_box_plate_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 873 + dataset_name: Airbot_MMK2_swap_sponge_paper_box_plate + dataset_uuid: 77b2c99f-d75c-4deb-8cbc-b00b48b72d73 + device_model: Airbot_MMK2 + end_effector_type: five_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_swap_sponge_paper_ + box_plate/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_swap_sponge_paper_box_plate + scene_types: + - kitchen + - level1 + - level2 + - level3 + - level4 + - level5 + - 'level1: household' + - 'level2: kitchen' + - household + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null + - object_name: paper_boxes + level1: packaging + level2: paper_boxes + level3: null + level4: null + level5: null + - object_name: cleaning_sponge + level1: daily_necessities + level2: cleaning_sponge + level3: null + level4: null + level5: null + total_episodes: 50 + yaml: + dataset_name: Airbot_MMK2_swap_sponge_paper_box_plate + dataset_uuid: null + task_descriptions: + - take the sponge out of the plate with left hand and put the box in with right + hand. + result: success + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: paper_boxes + level1: home_storage + level2: paper_boxes + level3: null + level4: null + level5: null + - object_name: cleaning_sponge + level1: daily_necessities + level2: cleaning_sponge + level3: null + level4: null + level5: null + - object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + meta: + robot_type: Airbot_MMK2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 8731 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_take_cup.yaml b/dataset_info/Airbot_MMK2_take_cup.yaml new file mode 100644 index 0000000000000000000000000000000000000000..faea68d4b3a0e26c634a59f1456ec9d6359f2806 --- /dev/null +++ b/dataset_info/Airbot_MMK2_take_cup.yaml @@ -0,0 +1,960 @@ +dataset_name: Airbot_MMK2_take_cup +dataset_uuid: 97af90d0-8fe7-4a51-8e48-bb6592a5bce0 +scene_type: +- level1 +- level2 +- level3 +- level4 +- level5 +- 'level1: catering' +- 'level2: cafe' +- catering +- cafe +atomic_actions: +- place +- clip +- takeout +- pinch +end_effector_type: +- five_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: cup + level1: kitchen_supplies + level2: cup + level3: null + level4: null + level5: null +- object_name: lid + level1: laboratory_supplies + level2: lid + level3: null + level4: null + level5: null +path: Airbot_MMK2_take_cup +video_url: ./assets/videos/Airbot_MMK2_take_cup.mp4 +thumbnail_url: ./assets/thumbnails/Airbot_MMK2_take_cup.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 169.6MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Airbot_MMK2 +codebase_version: v2.1 +statistics: + total_episodes: 35 + total_frames: 5435 + total_tasks: 1 + total_videos: 140 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:34 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take the cup off the white lid and place them on the table by hands. +sub_tasks: +- place the cup in the table use the left gripper +- place the cup in the table use the right gripper +- Grasp the cup the left gripper +- Grasp the cup the right gripper +- End +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Airbot_MMK2_take_cup_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 858 + dataset_name: Airbot_MMK2_take_cup + dataset_uuid: 97af90d0-8fe7-4a51-8e48-bb6592a5bce0 + device_model: Airbot_MMK2 + end_effector_type: five_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_take_cup/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_take_cup + scene_types: + - level1 + - level2 + - level3 + - level4 + - level5 + - 'level1: catering' + - 'level2: cafe' + - catering + - cafe + atomic_actions: + - place + - clip + - takeout + - pinch + objects: + - object_name: cup + level1: kitchen_supplies + level2: cup + level3: null + level4: null + level5: null + - object_name: lid + level1: laboratory_supplies + level2: lid + level3: null + level4: null + level5: null + total_episodes: 35 + yaml: + dataset_name: Airbot_MMK2_take_cup + dataset_uuid: null + task_descriptions: + - take the cup off the white lid and place them on the table by hands. + result: success + scene_type: + level1: catering + level2: cafe + level3: null + level4: null + level5: null + atomic_actions: + - pinch + - place + - clip + - takeout + objects: + - object_name: cup + level1: cups + level2: cup + level3: null + level4: null + level5: null + - object_name: lid + level1: storage_utensils + level2: lid + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + meta: + robot_type: Airbot_MMK2 + codebase_version: v2.1 + statistics: + total_episodes: 35 + total_frames: 5435 + total_tasks: 1 + total_videos: 140 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:34 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_take_drink.yaml b/dataset_info/Airbot_MMK2_take_drink.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2fe1a09811d3701f6361fbc1e91796870b38be88 --- /dev/null +++ b/dataset_info/Airbot_MMK2_take_drink.yaml @@ -0,0 +1,951 @@ +dataset_name: Airbot_MMK2_take_drink +dataset_uuid: f135f608-0ea7-4979-a921-a15ccb146df5 +scene_type: +- 'level1: convenience' +- 'level2: supermarket' +- supermarket +- convenience +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: paper_cup + level1: kitchen_supplies + level2: paper_cup + level3: null + level4: null + level5: null +- object_name: any_beverages + level1: beverages + level2: any_beverages + level3: null + level4: null + level5: null +path: Airbot_MMK2_take_drink +video_url: ./assets/videos/Airbot_MMK2_take_drink.mp4 +thumbnail_url: ./assets/thumbnails/Airbot_MMK2_take_drink.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 557.0MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Airbot_MMK2 +codebase_version: v2.1 +statistics: + total_episodes: 85 + total_frames: 16951 + total_tasks: 1 + total_videos: 340 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:84 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: pick up the drink by hand and put it on the table. +sub_tasks: +- Place the coffee on the table with the left gripper +- Place the vitamin B water on the table with the left gripper +- Abnormal +- Place the vitamin B water on the table with the right gripper +- Place the coffee on the table with the right gripper +- Grasp the vitamin B water on the white lid with the left gripper +- Grasp the vitamin B water on the white lid with the right gripper +- End +- Grasp the coffee on the white lid with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Airbot_MMK2_take_drink_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 883 + dataset_name: Airbot_MMK2_take_drink + dataset_uuid: f135f608-0ea7-4979-a921-a15ccb146df5 + device_model: Airbot_MMK2 + end_effector_type: five_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_take_drink/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_take_drink + scene_types: + - 'level1: convenience' + - 'level2: supermarket' + - supermarket + - convenience + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: paper_cup + level1: kitchen_supplies + level2: paper_cup + level3: null + level4: null + level5: null + - object_name: any_beverages + level1: beverages + level2: any_beverages + level3: null + level4: null + level5: null + total_episodes: 86 + yaml: + dataset_name: Airbot_MMK2_take_drink + dataset_uuid: null + task_descriptions: + - pick up the drink by hand and put it on the table. + result: success + scene_type: + level1: convenience + level2: supermarket + level3: null + level4: null + level5: null + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: any_beverages + level1: beverages + level2: any_beverages + level3: null + level4: null + level5: null + - object_name: paper_cup + level1: cups + level2: paper_cup + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + meta: + robot_type: Airbot_MMK2 + codebase_version: v2.1 + statistics: + total_episodes: 85 + total_frames: 16951 + total_tasks: 1 + total_videos: 340 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:84 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_take_electronics.yaml b/dataset_info/Airbot_MMK2_take_electronics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..62a4d7df5b00bf7ed4c8d8854558dc24df7c53ef --- /dev/null +++ b/dataset_info/Airbot_MMK2_take_electronics.yaml @@ -0,0 +1,949 @@ +dataset_name: Airbot_MMK2_take_electronics +dataset_uuid: 2a1f327d-2569-4da5-9161-97377d90dbee +scene_type: +- factory +- industry +- 'level1: industry' +- 'level2: factory' +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: lid + level1: laboratory_supplies + level2: lid + level3: null + level4: null + level5: null +- object_name: paper_boxes + level1: packaging + level2: paper_boxes + level3: null + level4: null + level5: null +path: Airbot_MMK2_take_electronics +video_url: ./assets/videos/Airbot_MMK2_take_electronics.mp4 +thumbnail_url: ./assets/thumbnails/Airbot_MMK2_take_electronics.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 399.8MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Airbot_MMK2 +codebase_version: v2.1 +statistics: + total_episodes: 49 + total_frames: 13465 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:48 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take the calculator box and mouse box off the lid and place them on the table. +sub_tasks: +- Abnormal +- Place the mouse box on the table with the left gripper +- Grasp the calculator box on the white lid and with the right gripper +- Grasp the mouse box on the white lid and with the left gripper +- End +- Place the calculator box on the table with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Airbot_MMK2_take_electronics_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 894 + dataset_name: Airbot_MMK2_take_electronics + dataset_uuid: 2a1f327d-2569-4da5-9161-97377d90dbee + device_model: Airbot_MMK2 + end_effector_type: five_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_take_electronics/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_take_electronics + scene_types: + - factory + - industry + - 'level1: industry' + - 'level2: factory' + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: lid + level1: laboratory_supplies + level2: lid + level3: null + level4: null + level5: null + - object_name: paper_boxes + level1: packaging + level2: paper_boxes + level3: null + level4: null + level5: null + total_episodes: 49 + yaml: + dataset_name: Airbot_MMK2_take_electronics + dataset_uuid: null + task_descriptions: + - take the calculator box and mouse box off the lid and place them on the table. + result: success + scene_type: + level1: industry + level2: factory + level3: null + level4: null + level5: null + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: paper_boxes + level1: baskets + level2: paper_boxes + level3: null + level4: null + level5: null + - object_name: lid + level1: storage_utensils + level2: lid + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + meta: + robot_type: Airbot_MMK2 + codebase_version: v2.1 + statistics: + total_episodes: 49 + total_frames: 13465 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:48 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Airbot_MMK2_take_toy_car.yaml b/dataset_info/Airbot_MMK2_take_toy_car.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e525606b71e2ccf0df341a55c49195d252945318 --- /dev/null +++ b/dataset_info/Airbot_MMK2_take_toy_car.yaml @@ -0,0 +1,948 @@ +dataset_name: Airbot_MMK2_take_toy_car +dataset_uuid: 30f8980f-f6b8-4a35-975d-2efb051487df +scene_type: +- 'level1: other' +- 'level2: laboratory' +- other +- laboratory +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: toy_car + level1: toy + level2: toy_car + level3: null + level4: null + level5: null +- object_name: white_small_plate + level1: plates + level2: white_small_plate + level3: null + level4: null + level5: null +path: Airbot_MMK2_take_toy_car +video_url: ./assets/videos/Airbot_MMK2_take_toy_car.mp4 +thumbnail_url: ./assets/thumbnails/Airbot_MMK2_take_toy_car.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 457.5MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Airbot_MMK2 +codebase_version: v2.1 +statistics: + total_episodes: 49 + total_frames: 14333 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:48 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take the toy car out of the plate by hand and place it on the table. +sub_tasks: +- Grasp the toy car on the plate and with the left gripper +- Grasp the toy car on the plate and with the right gripper +- Abnormal +- End +- Place the toy car on the table with the right gripper +- Place the toy car on the table with the left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_third_view + name: cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_third_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +action_space: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Airbot_MMK2_take_toy_car_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 879 + dataset_name: Airbot_MMK2_take_toy_car + dataset_uuid: 30f8980f-f6b8-4a35-975d-2efb051487df + device_model: Airbot_MMK2 + end_effector_type: five_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/6discover_robotics_aitbot_mmk2/mmk补充/Airbot_MMK2_take_toy_car/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/成功区/Airbot_MMK2_take_toy_car + scene_types: + - 'level1: other' + - 'level2: laboratory' + - other + - laboratory + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: toy_car + level1: toy + level2: toy_car + level3: null + level4: null + level5: null + - object_name: white_small_plate + level1: plates + level2: white_small_plate + level3: null + level4: null + level5: null + total_episodes: 49 + yaml: + dataset_name: Airbot_MMK2_take_toy_car + dataset_uuid: null + task_descriptions: + - take the toy car out of the plate by hand and place it on the table. + result: success + scene_type: + level1: other + level2: laboratory + level3: null + level4: null + level5: null + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: toy_car + level1: doll + level2: toy_car + level3: null + level4: null + level5: null + - object_name: white_small_plate + level1: plates + level2: white_small_plate + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + meta: + robot_type: Airbot_MMK2 + codebase_version: v2.1 + statistics: + total_episodes: 49 + total_frames: 14333 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:48 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_third_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_box_storage_chopsticks.yaml b/dataset_info/Cobot_Magic_box_storage_chopsticks.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e66ffa23c044878806f4e41173025afe3dad6ca1 --- /dev/null +++ b/dataset_info/Cobot_Magic_box_storage_chopsticks.yaml @@ -0,0 +1,850 @@ +dataset_name: box_storage_chopsticks +dataset_uuid: 820026e7-2878-4127-b935-c5e584a825bc +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null +- object_name: pallet + level1: container + level2: pallet + level3: null + level4: null + level5: null +- object_name: chopsticks + level1: tableware + level2: chopsticks + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +path: Cobot_Magic_box_storage_chopsticks +video_url: ./assets/videos/Cobot_Magic_box_storage_chopsticks.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_box_storage_chopsticks.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 6.4GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 499 + total_frames: 170337 + total_tasks: 6 + total_videos: 1497 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:498 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'on blue tablecloth take chopsticks from black tray and put them in box. + + on brown tablecloth take chopsticks from black tray and put them in box. + + on green tablecloth take chopsticks from black tray and put them in box. + + on pink tablecloth take chopsticks from black tray and put them in box. + + on white black tablecloth take chopsticks from black tray and put them in box. + + on white tablecloth take chopsticks from black tray and put them in box.' +sub_tasks: +- use the right arm to put the chopsticks into the lunch box +- Abnormal +- use the left arm to grab a pair of chopsticks +- End +- Grasp the a pair of chopsticks with the left gripper +- Place the a pair of chopsticks in the box with the left gripper +- use the left arm to put the chopsticks into the lunch box +- use the right arm to grab a pair of chopsticks +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_front_rgb + name: cam_front_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_front_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_box_storage_chopsticks_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 263 + dataset_name: box_storage_chopsticks + dataset_uuid: 820026e7-2878-4127-b935-c5e584a825bc + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha15000条/chopstick_classfied_AH202503270003/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_box_storage_chopsticks + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: box_storage_chopsticks + dataset_uuid: null + task_descriptions: + - on blue tablecloth take chopsticks from black tray and put them in box. + - on brown tablecloth take chopsticks from black tray and put them in box. + - on green tablecloth take chopsticks from black tray and put them in box. + - on pink tablecloth take chopsticks from black tray and put them in box. + - on white tablecloth take chopsticks from black tray and put them in box. + - on white black tablecloth take chopsticks from black tray and put them in box. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null + - object_name: pallet + level1: container + level2: pallet + level3: null + level4: null + level5: null + - object_name: chopsticks + level1: tableware + level2: chopsticks + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - agilex_cobot_magic_aloha + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 499 + total_frames: 170337 + total_tasks: 6 + total_videos: 1497 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:498 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_cap_the_pen_a.yaml b/dataset_info/Cobot_Magic_cap_the_pen_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2c297a1e5d6490f20b49ed00ff7dbcd865811ef4 --- /dev/null +++ b/dataset_info/Cobot_Magic_cap_the_pen_a.yaml @@ -0,0 +1,838 @@ +dataset_name: cap_the_pen_a +dataset_uuid: b549e79c-e49e-4cec-a476-b94bdd766f22 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +- insert +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null +- object_name: pen_cap + level1: office_supplies + level2: pen_cap + level3: null + level4: null + level5: null +- object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null +path: Cobot_Magic_cap_the_pen_a +video_url: ./assets/videos/Cobot_Magic_cap_the_pen_a.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_cap_the_pen_a.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 1.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 55 + total_frames: 51317 + total_tasks: 1 + total_videos: 165 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +splits: + train: 0:54 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: on the grey tablecloth, hold the pen cap in one hand and the pen in the other, + then cover the pen cap. +sub_tasks: +- Secure the pen cap with the right hand. +- Insert the pen into the cap +- End +- Put the cap on the pen +- Pick up the pen cap +- Grab the pen barrel with the left hand. +- Secure the pen cap with the left hand. +- Grab the pen cap with the left hand. +- Place the pen on the table +- Abnormal +- Grab the pen cap with the right hand. +- Insert the pen cap with the right hand. +- Grab the pen barrel with the right hand. +- Pick up the pen +- Place the pen down with the right hand. +- Insert the pen cap with the left hand. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_left_wrist_rgb_rgb + name: cam_left_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_right_wrist_rgb_rgb + name: cam_right_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_cap_the_pen_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 325 + dataset_name: cap_the_pen_a + dataset_uuid: b549e79c-e49e-4cec-a476-b94bdd766f22 + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGXCompany2/videos/train/cap_the_pen/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_cap_the_pen_a + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: cap_the_pen_a + dataset_uuid: null + task_descriptions: + - on the green tablecloth, hold the pen cap in one hand and the pen in the other, + then cover the pen cap. + - on the grey tablecloth, hold the pen cap in one hand and the pen in the other, + then cover the pen cap. + - on the white tablecloth, hold the pen cap in one hand and the pen in the other, + then cover the pen cap. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + - insert + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null + - object_name: pen_cap + level1: office_supplies + level2: pen_cap + level3: null + level4: null + level5: null + - object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_magic_aloha + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 55 + total_frames: 51317 + total_tasks: 1 + total_videos: 165 + total_chunks: 1 + chunks_size: 1000 + fps: 50 + splits: + train: 0:54 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_catch_the_ball.yaml b/dataset_info/Cobot_Magic_catch_the_ball.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4935adbc859c2648949c265b028588652a2a1921 --- /dev/null +++ b/dataset_info/Cobot_Magic_catch_the_ball.yaml @@ -0,0 +1,794 @@ +dataset_name: catch_the_ball +dataset_uuid: 3ea12ae6-b4f3-453d-b56f-bca0e5a346c8 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: ball + level1: toy + level2: ball + level3: null + level4: null + level5: null +path: Cobot_Magic_catch_the_ball +video_url: ./assets/videos/Cobot_Magic_catch_the_ball.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_catch_the_ball.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 877.6MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 98 + total_frames: 57085 + total_tasks: 1 + total_videos: 294 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +splits: + train: 0:97 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: grasp the rolling ball descending the slope. +sub_tasks: +- Put the picked-up object on the table. +- Grab the rolling spherical object. +- Grab the spherical object with your left arm. +- Place the sphere on the white object. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_catch_the_ball_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 288 + dataset_name: catch_the_ball + dataset_uuid: 3ea12ae6-b4f3-453d-b56f-bca0e5a346c8 + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGX/videos/train/catch_the_ball/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_catch_the_ball + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: catch_the_ball + dataset_uuid: null + task_descriptions: + - grasp the rolling ball descending the slope. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: ball + level1: toy + level2: ball + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 98 + total_frames: 57085 + total_tasks: 1 + total_videos: 294 + total_chunks: 1 + chunks_size: 1000 + fps: 50 + splits: + train: 0:97 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_classification_of_fruits_and_vegetables.yaml b/dataset_info/Cobot_Magic_classification_of_fruits_and_vegetables.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5b12d32bc1e3e976f5129ffc303e010c067ef78f --- /dev/null +++ b/dataset_info/Cobot_Magic_classification_of_fruits_and_vegetables.yaml @@ -0,0 +1,865 @@ +dataset_name: classification_of_fruits_and_vegetables +dataset_uuid: 792e3e06-8f5e-444d-9a30-740d091a9209 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null +- object_name: white_carrot + level1: vegetables + level2: white_carrot + level3: null + level4: null + level5: null +- object_name: eggplant + level1: vegetables + level2: eggplant + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +path: Cobot_Magic_classification_of_fruits_and_vegetables +video_url: ./assets/videos/Cobot_Magic_classification_of_fruits_and_vegetables.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_classification_of_fruits_and_vegetables.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 9.7GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 301 + total_frames: 183132 + total_tasks: 4 + total_videos: 903 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:300 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'on blue tablecloth alternately place white carrots eggplants in plates of + different colors. + + on brown tablecloth alternately place white carrots eggplants in plates of different + colors. + + on green tablecloth alternately place white carrots eggplants in plates of different + colors. + + on pink tablecloth alternately place white carrots eggplants in plates of different + colors.' +sub_tasks: +- use the left arm to grab a carrot and put it into the right plate +- use the right arm to grab a radish and put it into the right plate +- use the left arm to grab a radish and put it into the right plate +- use the left arm to grab an eggplant and put it into the left plate +- use the right arm to grab a chayote and put it into the right plate +- use the left arm to grab a tomato and put it into the left plate +- use the right arm to grab a radish and put it into the left plate +- use the left arm to grab a radish and put it into the left plate +- use the left arm to grab a chayote and put it into the right plate +- use the left arm to grab a chayote and put it into the left plate +- use the right arm to grab an eggplant and put it into the left plate +- use the left arm to grab an eggplant and put it into the right plate +- use the right arm to grab a carrot and put it into the right plate +- use the left arm to grab a carrot and put it into the left plate +- use the right arm to grab a carrot and put it into the left plate +- use the right arm to grab a tomato and put it into the left plate +- use the right arm to grab an eggplant and put it into the right plate +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_front_rgb + name: cam_front_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_front_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_classification_of_fruits_and_vegetables_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 261 + dataset_name: classification_of_fruits_and_vegetables + dataset_uuid: 792e3e06-8f5e-444d-9a30-740d091a9209 + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha15000条/Classification_vegetables-AH202503190002/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_classification_of_fruits_and_vegetables + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: classification_of_fruits_and_vegetables + dataset_uuid: null + task_descriptions: + - on blue tablecloth alternately place white carrots eggplants in plates of different + colors. + - on brown tablecloth alternately place white carrots eggplants in plates of different + colors. + - on green tablecloth alternately place white carrots eggplants in plates of different + colors. + - on pink tablecloth alternately place white carrots eggplants in plates of different + colors. + - on white tablecloth alternately place white carrots eggplants in plates of different + colors. + - on white black tablecloth alternately place white carrots eggplants in plates + of different colors. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null + - object_name: white_carrot + level1: vegetables + level2: white_carrot + level3: null + level4: null + level5: null + - object_name: eggplant + level1: vegetables + level2: eggplant + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - agilex_cobot_magic_aloha + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 301 + total_frames: 183132 + total_tasks: 4 + total_videos: 903 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:300 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_classification_of_fruits_and_vegetables_a.yaml b/dataset_info/Cobot_Magic_classification_of_fruits_and_vegetables_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e3941073d6fdb99558802f4ab118219bfea45bca --- /dev/null +++ b/dataset_info/Cobot_Magic_classification_of_fruits_and_vegetables_a.yaml @@ -0,0 +1,859 @@ +dataset_name: classification_of_fruits_and_vegetables_a +dataset_uuid: 792e3e06-8f5e-444d-9a30-740d091a9210 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null +- object_name: white_carrot + level1: vegetables + level2: white_carrot + level3: null + level4: null + level5: null +- object_name: eggplant + level1: vegetables + level2: eggplant + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +path: Cobot_Magic_classification_of_fruits_and_vegetables_a +video_url: ./assets/videos/Cobot_Magic_classification_of_fruits_and_vegetables_a.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_classification_of_fruits_and_vegetables_a.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 10.4GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 300 + total_frames: 187645 + total_tasks: 3 + total_videos: 900 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:299 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'on pink tablecloth alternately place white carrots eggplants in plates of + different colors. + + on white tablecloth alternately place white carrots eggplants in plates of different + colors. + + on white black tablecloth alternately place white carrots eggplants in plates of + different colors.' +sub_tasks: +- Grab a potato with your right arm and put it on the left plate +- use the right arm to grab a chayote and put it into the left plate +- use the left arm to grab a chayote and put it into the right plate +- Grab a potato with your left arm and put it on the left plate +- use the right arm to grab a chayote and put it into the right plate +- use the left arm to grab a carrot and put it into the left plate +- use the left arm to grab a carrot and put it into the right plate +- use the right arm to grab a carrot and put it into the left plate +- Grab a potato with your right arm and put it on the right plate +- use the left arm to grab a radish and put it into the right plate +- Grab the chayote with your right arm and put it on the left plate +- use the right arm to grab a carrot and put it into the right plate +- Grab a potato with your left arm and put it on the right plate +- use the left arm to grab a chayote and put it into the left plate +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_front_rgb + name: cam_front_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_front_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_classification_of_fruits_and_vegetables_a_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 566 + dataset_name: classification_of_fruits_and_vegetables_a + dataset_uuid: 792e3e06-8f5e-444d-9a30-740d091a9210 + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha15000条/Classification_vegetables-AH202503190003/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_classification_of_fruits_and_vegetables_a + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: classification_of_fruits_and_vegetables_a + dataset_uuid: null + task_descriptions: + - on blue tablecloth alternately place white carrots eggplants in plates of different + colors. + - on brown tablecloth alternately place white carrots eggplants in plates of different + colors. + - on green tablecloth alternately place white carrots eggplants in plates of different + colors. + - on pink tablecloth alternately place white carrots eggplants in plates of different + colors. + - on white tablecloth alternately place white carrots eggplants in plates of different + colors. + - on white black tablecloth alternately place white carrots eggplants in plates + of different colors. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null + - object_name: white_carrot + level1: vegetables + level2: white_carrot + level3: null + level4: null + level5: null + - object_name: eggplant + level1: vegetables + level2: eggplant + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - agilex_cobot_magic_aloha + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 300 + total_frames: 187645 + total_tasks: 3 + total_videos: 900 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:299 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_classification_of_tableware.yaml b/dataset_info/Cobot_Magic_classification_of_tableware.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0ba92f3afba5ba6382bb93a80287d60e619e6e25 --- /dev/null +++ b/dataset_info/Cobot_Magic_classification_of_tableware.yaml @@ -0,0 +1,886 @@ +dataset_name: classification_of_tableware +dataset_uuid: 62f60030-04d6-4ae4-aab2-d753cbc6ad85 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: chopsticks + level1: tableware + level2: chopsticks + level3: null + level4: null + level5: null +- object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +path: Cobot_Magic_classification_of_tableware +video_url: ./assets/videos/Cobot_Magic_classification_of_tableware.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_classification_of_tableware.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 13.1GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 406 + total_frames: 347004 + total_tasks: 5 + total_videos: 1218 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:405 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'on blue table put chopsticks spoon bowls plates into blue grey white boxes. + + on brown table put chopsticks spoon bowls plates into blue grey white boxes. + + on green table put chopsticks spoon bowls plates into blue grey white boxes. + + on grey table put chopsticks spoon bowls plates into blue grey white boxes. + + on white black table put chopsticks spoon bowls plates into blue grey white boxes.' +sub_tasks: +- use the right arm to grab the plate +- use the right arm to grab a chopstick +- use the right arm to put the plate into the large storage box on the left +- use the right arm to put the noodle bowl into the large storage box on the left +- use the right arm to put a chopstick into the small storage box on the right +- use the left arm to put a chopstick into the small storage box on the right +- use the left arm to grab the yellow noodle bowl on the left +- use the left arm to grab a chopstick +- use the left arm to grab the chopsticks +- use the left arm to put the soup spoon into the small storage box in the middle +- use the right arm to grab the soup spoon in the middle +- use the right arm to grab the chopsticks +- use the right arm to put the plate on the tray +- use the right arm to grab the yellow noodle bowl +- use the left arm to grab the soup spoon in the middle +- use the left arm to put the plate into the large storage box on the left +- use the left arm to put the chopsticks into the small storage box on the right +- use the left arm to grab the plate +- use the left arm to put the noodle bowl into the large storage box on the left +- use the right arm to put the soup spoon into the small storage box in the middle +- use the right arm to put the chopsticks into the small storage box on the right +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_front_rgb + name: cam_front_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_front_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_classification_of_tableware_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 264 + dataset_name: classification_of_tableware + dataset_uuid: 62f60030-04d6-4ae4-aab2-d753cbc6ad85 + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha15000条/closing_bowl_1-AH202505280002/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_classification_of_tableware + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: classification_of_tableware + dataset_uuid: null + task_descriptions: + - on blue table put chopsticks spoon bowls plates into blue grey white boxes. + - on brown table put chopsticks spoon bowls plates into blue grey white boxes. + - on green table put chopsticks spoon bowls plates into blue grey white boxes. + - on grey table put chopsticks spoon bowls plates into blue grey white boxes. + - on white table put chopsticks spoon bowls plates into blue grey white boxes. + - on white black table put chopsticks spoon bowls plates into blue grey white + boxes. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: chopsticks + level1: tableware + level2: chopsticks + level3: null + level4: null + level5: null + - object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 406 + total_frames: 347004 + total_tasks: 5 + total_videos: 1218 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:405 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_clean_blackboard.yaml b/dataset_info/Cobot_Magic_clean_blackboard.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8fec03642525b2dec81bcf6c58719e8929aa1a18 --- /dev/null +++ b/dataset_info/Cobot_Magic_clean_blackboard.yaml @@ -0,0 +1,890 @@ +dataset_name: clean_blackboard +dataset_uuid: 8d45e76c-b43b-46c3-b336-dffdcd73de2b +scene_type: [] +atomic_actions: +- grasp +- pick +- wipe +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: blackboard + level1: office_supplies + level2: blackboard + level3: null + level4: null + level5: null +- object_name: blackboard_eraser + level1: office_supplies + level2: blackboard_eraser + level3: null + level4: null + level5: null +path: Cobot_Magic_clean_blackboard +video_url: ./assets/videos/Cobot_Magic_clean_blackboard.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_clean_blackboard.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 8.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 938 + total_frames: 689349 + total_tasks: 2 + total_videos: 2814 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:937 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'pick up the eraser on the blackboard and erase the letter "a". + + pick up the eraser on the blackboard and erase the letter "B".' +sub_tasks: +- Place the blackboard eraser with the right gripper +- End +- pick up the blackboard eraser with the right gripper +- Erase the letter B use the eraser with the right gripper +- Fixed the drawing board with the left gripper +- Erase the letter a use the eraser with the right gripper +- Grab the eraser with your right hand. +- Hold the drawing board steady with your left hand. +- Erase the letter B with your right hand. +- Put down the eraser with your right hand. +- Secure the drawing board with your left hand. +- Erase the letter a with your right hand. +- Release the drawing board with the left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_clean_blackboard_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 199 + dataset_name: clean_blackboard + dataset_uuid: 8d45e76c-b43b-46c3-b336-dffdcd73de2b + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/clean_blackboard/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_clean_blackboard + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: clean_blackboard + dataset_uuid: null + task_descriptions: + - pick up the eraser on the blackboard and erase the letter "a". + - pick up the eraser on the blackboard and erase the letter "B". + atomic_actions: + - grasp + - pick + - wipe + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: blackboard + level1: office_supplies + level2: blackboard + level3: null + level4: null + level5: null + - object_name: blackboard_eraser + level1: office_supplies + level2: blackboard_eraser + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 938 + total_frames: 689349 + total_tasks: 2 + total_videos: 2814 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:937 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_clean_up_the_tableware.yaml b/dataset_info/Cobot_Magic_clean_up_the_tableware.yaml new file mode 100644 index 0000000000000000000000000000000000000000..31ad7f15ff9e60890f1692c5b92b8aa65223a73e --- /dev/null +++ b/dataset_info/Cobot_Magic_clean_up_the_tableware.yaml @@ -0,0 +1,872 @@ +dataset_name: clean_up_the_tableware +dataset_uuid: ad865471-39ce-4343-92f4-8dcc8ed48830 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +- object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null +- object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null +path: Cobot_Magic_clean_up_the_tableware +video_url: ./assets/videos/Cobot_Magic_clean_up_the_tableware.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_clean_up_the_tableware.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 1.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 33 + total_frames: 18127 + total_tasks: 1 + total_videos: 99 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:32 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: place the bowls on the plates on the blue tablecloth, put the cups on the bowls, + and place the spoons in the cups. +sub_tasks: +- use the left arm to grab a blue teacup +- Grasp the bowl with the left gripper +- use the right arm to grab a blue rice bowl +- Place the bowl on the plate with the left gripper +- use the left arm to put the blue soup spoon into the blue teacup in the middle +- Grasp the spoon with the left gripper +- Place the spoon on the cup with the left gripper +- use the right arm to put the blue soup spoon on the blue large plate in the middle +- use the left arm to put the blue teacup into the blue rice bowl in the middle +- Grasp the cup with the left gripper +- use the right arm to put the blue soup spoon into the blue teacup in the middle +- use the right arm to put the blue teacup into the blue rice bowl in the middle +- use the left arm to grab a blue rice bowl +- use the right arm to grab a blue teacup +- Place the spoon on the cup with the right gripper +- use the right arm to put the blue rice bowl into the blue large plate in the middle +- abnormal +- Grasp the cup with the right gripper +- use the right arm to grab a blue soup spoon +- Grasp the bowl with the right gripper +- Grasp the spoon with the right gripper +- Place the cup on the bowl with the right gripper +- Place the cup on the bowl with the left gripper +- use the left arm to grab a blue soup spoon +- End +- Place the bowl on the plate with the right gripper +- use the left arm to put the blue rice bowl into the blue large plate in the middle +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_front_rgb + name: cam_front_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_front_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_clean_up_the_tableware_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 269 + dataset_name: clean_up_the_tableware + dataset_uuid: ad865471-39ce-4343-92f4-8dcc8ed48830 + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha15000条/fold_dishes_chopsticks-AH202503210001/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_clean_up_the_tableware + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: clean_up_the_tableware + dataset_uuid: null + task_descriptions: + - place bowls on plates on blue tablecloth put cups on bowls spoons in cups. + - place bowls on plates on brown tablecloth put cups on bowls spoons in cups. + - place bowls on plates on green tablecloth put cups on bowls spoons in cups. + - place bowls on plates on grey tablecloth put cups on bowls spoons in cups. + - place bowls on plates on white table put cups on bowls spoons in cups. + - place bowls on plates on white tablecloth put cups on bowls spoons in cups. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + - object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null + - object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_magic_aloha + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 33 + total_frames: 18127 + total_tasks: 1 + total_videos: 99 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:32 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_clear_the_desktop.yaml b/dataset_info/Cobot_Magic_clear_the_desktop.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e192dd0ec953e6553046edea0634834461de5cff --- /dev/null +++ b/dataset_info/Cobot_Magic_clear_the_desktop.yaml @@ -0,0 +1,816 @@ +dataset_name: clear_the_desktop +dataset_uuid: 1ef1c2b2-61c3-459c-a45b-332abc0bdb3e +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: rag + level1: clothing + level2: rag + level3: null + level4: null + level5: null +- object_name: coffee_stains + level1: garbage + level2: coffee_stains + level3: null + level4: null + level5: null +path: Cobot_Magic_clear_the_desktop +video_url: ./assets/videos/Cobot_Magic_clear_the_desktop.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_clear_the_desktop.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 1018.3MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 293 + total_frames: 157415 + total_tasks: 3 + total_videos: 879 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +splits: + train: 0:292 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'wipe the coffee stains on the table with a green rag. + + wipe the coffee stains on the table with a pink rag. + + wipe the coffee stains on the table with a blue rag.' +sub_tasks: +- Place the tablecloth +- Sweep the stains on the table +- End +- Sweep the stains on the table with the right gripper +- Place the tablecloth with the right gripper +- Pick up the tablecloth +- Pick up the tablecloth with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_left_wrist_rgb_rgb + name: cam_left_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_right_wrist_rgb_rgb + name: cam_right_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_clear_the_desktop_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 303 + dataset_name: clear_the_desktop + dataset_uuid: 1ef1c2b2-61c3-459c-a45b-332abc0bdb3e + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGXCompany/videos/train/wipe_the_table/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_clear_the_desktop + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: clear_the_desktop + dataset_uuid: null + task_descriptions: + - wipe the coffee stains on the table with a green rag. + - wipe the coffee stains on the table with a pink rag. + - wipe the coffee stains on the table with a blue rag. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: rag + level1: clothing + level2: rag + level3: null + level4: null + level5: null + - object_name: coffee_stains + level1: garbage + level2: coffee_stains + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 293 + total_frames: 157415 + total_tasks: 3 + total_videos: 879 + total_chunks: 1 + chunks_size: 1000 + fps: 50 + splits: + train: 0:292 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_close_book.yaml b/dataset_info/Cobot_Magic_close_book.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7a90170a7ef1a94f231b60fa4a413b1bc145038f --- /dev/null +++ b/dataset_info/Cobot_Magic_close_book.yaml @@ -0,0 +1,811 @@ +dataset_name: close_book +dataset_uuid: 778d9b66-c492-4978-9a1e-f67a5ba3636c +scene_type: +- home +atomic_actions: +- press +- close +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: book + level1: office_supplies + level2: book + level3: null + level4: null + level5: null +- object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null +path: Cobot_Magic_close_book +video_url: ./assets/videos/Cobot_Magic_close_book.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_close_book.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 2.8GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 287 + total_frames: 138451 + total_tasks: 3 + total_videos: 861 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +splits: + train: 0:286 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'on the green tablecloth, hold the book with one hand and close it with the + other. + + on the white tablecloth, hold the book with one hand and close it with the other. + + on the grey tablecloth, hold the book with one hand and close it with the other.' +sub_tasks: +- Abnormal +- End +- Close the book +- Close the open book +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_left_wrist_rgb_rgb + name: cam_left_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_right_wrist_rgb_rgb + name: cam_right_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_close_book_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 320 + dataset_name: close_book + dataset_uuid: 778d9b66-c492-4978-9a1e-f67a5ba3636c + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGXCompany2/videos/train/close_book/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_close_book + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: close_book + dataset_uuid: null + task_descriptions: + - on the white tablecloth, hold the book with one hand and close it with the other. + - on the green tablecloth, hold the book with one hand and close it with the other. + - on the grey tablecloth, hold the book with one hand and close it with the other. + scene_type: + - home + atomic_actions: + - press + - close + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: book + level1: office_supplies + level2: book + level3: null + level4: null + level5: null + - object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 287 + total_frames: 138451 + total_tasks: 3 + total_videos: 861 + total_chunks: 1 + chunks_size: 1000 + fps: 50 + splits: + train: 0:286 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_close_button.yaml b/dataset_info/Cobot_Magic_close_button.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d74894565aa525eaeb0a10ac6227192dafd130fd --- /dev/null +++ b/dataset_info/Cobot_Magic_close_button.yaml @@ -0,0 +1,820 @@ +dataset_name: close_button +dataset_uuid: 477f8a4a-e9ab-4a19-ad78-62aca316cbea +scene_type: +- home +atomic_actions: +- press +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: button + level1: electric_appliance + level2: button + level3: null + level4: null + level5: null +- object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null +path: Cobot_Magic_close_button +video_url: ./assets/videos/Cobot_Magic_close_button.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_close_button.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 1.8GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 60 + total_frames: 18136 + total_tasks: 6 + total_videos: 180 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +splits: + train: 0:59 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'press the button switch on the cyan tablecloth with the left gripper to turn + off the button. + + press the button switch on the grey tablecloth with the left gripper to turn off + the button. + + press the button switch with the left gripper to turn off the button. + + press the button switch on the cyan tablecloth with the right gripper to turn off + the button. + + press the button switch on the grey tablecloth with the right gripper to turn off + the button. + + press the button switch with the right claw to turn off the button.' +sub_tasks: +- end +- Press the first switch from the left on the right side. +- Press the button to turn off +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_close_button_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 311 + dataset_name: close_button + dataset_uuid: 477f8a4a-e9ab-4a19-ad78-62aca316cbea + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGXCompany/videos/train/press_the_button_switch_to_turn_it_off/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_close_button + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: close_button + dataset_uuid: null + task_descriptions: + - press the button switch with the left gripper to turn off the button. + - left gripper press grey cloth button switch turn off button. + - left gripper press cyan cloth button switch turn off button. + - press the button switch with the right claw to turn off the button. + - right gripper press grey cloth button switch turn off button. + - right gripper press cyan cloth button switch turn off button. + scene_type: + - home + atomic_actions: + - press + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: button + level1: electric_appliance + level2: button + level3: null + level4: null + level5: null + - object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 60 + total_frames: 18136 + total_tasks: 6 + total_videos: 180 + total_chunks: 1 + chunks_size: 1000 + fps: 50 + splits: + train: 0:59 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_cube_reset.yaml b/dataset_info/Cobot_Magic_cube_reset.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6544e39071724a334f2015f69e36aacd070d76b --- /dev/null +++ b/dataset_info/Cobot_Magic_cube_reset.yaml @@ -0,0 +1,879 @@ +dataset_name: cube_reset +dataset_uuid: 5f4b3baf-119d-489b-b64d-59ea1b989422 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: cube_block + level1: toy + level2: cube_block + level3: null + level4: null + level5: null +- object_name: cube_groove + level1: container + level2: cube_groove + level3: null + level4: null + level5: null +path: Cobot_Magic_cube_reset +video_url: ./assets/videos/Cobot_Magic_cube_reset.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_cube_reset.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 514.5MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 98 + total_frames: 28883 + total_tasks: 1 + total_videos: 294 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:97 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: pick up the cube block and place it into the cube groove. +sub_tasks: +- End +- Pick up the cube +- Grasp the cube +- Place cube into the cube recess +- Place cube into the cube-shaped recess +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_cube_reset_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 250 + dataset_name: cube_reset + dataset_uuid: 5f4b3baf-119d-489b-b64d-59ea1b989422 + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/aloha_weizhishuju/正方体复位/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_cube_reset + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: cube_reset + dataset_uuid: null + task_descriptions: + - pick up the cube block and place it into the cube groove. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cube_block + level1: toy + level2: cube_block + level3: null + level4: null + level5: null + - object_name: cube_groove + level1: container + level2: cube_groove + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 98 + total_frames: 28883 + total_tasks: 1 + total_videos: 294 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:97 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_cut_banana.yaml b/dataset_info/Cobot_Magic_cut_banana.yaml new file mode 100644 index 0000000000000000000000000000000000000000..930b0415bd7fb0cdc2feba23909d5772e354253f --- /dev/null +++ b/dataset_info/Cobot_Magic_cut_banana.yaml @@ -0,0 +1,926 @@ +dataset_name: cut_banana +dataset_uuid: 3637d17f-4a5a-4801-902f-3e5aee09f48b +scene_type: +- home +- restaurant +atomic_actions: +- grasp +- pick +- cut +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null +- object_name: plastic_vegetable_board + level1: tool + level2: plastic_vegetable_board + level3: null + level4: null + level5: null +- object_name: knife_holder + level1: furniture + level2: knife_holder + level3: null + level4: null + level5: null +- object_name: knife + level1: tool + level2: knife + level3: null + level4: null + level5: null +- object_name: fake_banana + level1: toy + level2: fake_banana + level3: null + level4: null + level5: null +path: Cobot_Magic_cut_banana +video_url: ./assets/videos/Cobot_Magic_cut_banana.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_cut_banana.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 4.2GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 583 + total_frames: 310367 + total_tasks: 2 + total_videos: 1749 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:582 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'cut banana. + + cut plastic banana.' +sub_tasks: +- Cut the banana with your left hand. +- Cut the banana with your right hand. +- Hold the blade with your left hand. +- Discard the waste. +- Secure the blade with your left hand. +- Place the knife on the storage rack with your right hand. +- Grab the knife handle with your right hand. +- end +- Lift the knife with your right hand. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_cut_banana_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 191 + dataset_name: cut_banana + dataset_uuid: 3637d17f-4a5a-4801-902f-3e5aee09f48b + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/cut_banana/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_cut_banana + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: cut_banana + dataset_uuid: null + task_descriptions: + - cut banana. + - cut plastic banana. + scene_type: + - home + - restaurant + atomic_actions: + - grasp + - pick + - cut + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null + - object_name: plastic_vegetable_board + level1: tool + level2: plastic_vegetable_board + level3: null + level4: null + level5: null + - object_name: knife_holder + level1: furniture + level2: knife_holder + level3: null + level4: null + level5: null + - object_name: knife + level1: tool + level2: knife + level3: null + level4: null + level5: null + - object_name: fake_banana + level1: toy + level2: fake_banana + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_magic_aloha + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 583 + total_frames: 310367 + total_tasks: 2 + total_videos: 1749 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:582 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_desktop_organization.yaml b/dataset_info/Cobot_Magic_desktop_organization.yaml new file mode 100644 index 0000000000000000000000000000000000000000..89ff167acb5d3373b1e3b09eb0f5abed685ddae7 --- /dev/null +++ b/dataset_info/Cobot_Magic_desktop_organization.yaml @@ -0,0 +1,1310 @@ +dataset_name: desktop_organization +dataset_uuid: 32b7ba5a-b7c4-475c-8bcc-6b60402acd24 +scene_type: +- home +- office +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null +- object_name: waste_paper + level1: garbage + level2: waste_paper + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +- object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null +- object_name: knife + level1: office_supplies + level2: knife + level3: null + level4: null + level5: null +- object_name: ruler + level1: office_supplies + level2: ruler + level3: null + level4: null + level5: null +- object_name: bread + level1: food + level2: bread + level3: null + level4: null + level5: null +- object_name: small_pieces_of_paper + level1: garbage + level2: small_pieces_of_paper + level3: null + level4: null + level5: null +- object_name: coffee + level1: drink + level2: coffee + level3: null + level4: null + level5: null +- object_name: pencil_sharpener + level1: office_supplies + level2: pencil_sharpener + level3: null + level4: null + level5: null +- object_name: grape + level1: fruit + level2: grape + level3: null + level4: null + level5: null +- object_name: plastic_sheet + level1: garbage + level2: plastic_sheet + level3: null + level4: null + level5: null +- object_name: teacup + level1: container + level2: teacup + level3: null + level4: null + level5: null +- object_name: colored_glue + level1: office_supplies + level2: colored_glue + level3: null + level4: null + level5: null +- object_name: scissor + level1: office_supplies + level2: scissor + level3: null + level4: null + level5: null +- object_name: mango + level1: fruit + level2: mango + level3: null + level4: null + level5: null +- object_name: fruit_tray + level1: container + level2: fruit_tray + level3: null + level4: null + level5: null +- object_name: paper_ball + level1: garbage + level2: paper_ball + level3: null + level4: null + level5: null +- object_name: garbage_bin + level1: container + level2: garbage_bin + level3: null + level4: null + level5: null +- object_name: water_bottle + level1: container + level2: water_bottle + level3: null + level4: null + level5: null +- object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null +- object_name: pen_holder + level1: garbage + level2: spitball + level3: null + level4: null + level5: null +- object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null +- object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null +path: Cobot_Magic_desktop_organization +video_url: ./assets/videos/Cobot_Magic_desktop_organization.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_desktop_organization.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1M-10M +dataset_size: 32.3GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 1070 + total_frames: 2026628 + total_tasks: 6 + total_videos: 3210 + total_chunks: 2 + chunks_size: 1000 + fps: 30 +splits: + train: 0:1069 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'put the banana on the plate, put the waste paper in the basket, place the + water bottle upright near the plate, put the eraser in the pen holder, put the pen + in the pen holder. + + put the bread on the plate, put the small pieces of paper in the basket, place thecoffee + near the plate, put the pencil sharpener in the pen holder, put the rulerin the + pen holder, put the pen in the pen holder. + + put the pear on the plate, put the waste paper in the basket, place the water bottleupright + near the plate, put the knife in the pen holder, put the ruler in the penholder, + put the pen in the pen holder. + + put the grape on a plate, put the plastic sheet in the basket, place the teacupneatly + near the plate, put the scissor in the pen holder, put the ruler in the penholder, + put the colored glue in the pen holder. + + put the manngo and banana on the fruit tray, put the paper ball in the garbage bin,straighten + the water bottle, put the eraser and pen in the pen holder. + + pick up the green basket, put the cola inside the basket, and then put the basketdown.' +sub_tasks: +- Hand over the waste paper +- Place the red pencil sharpener into the pen holder +- place the silver glue into the pen holder +- Place the cola can in the basket with left gripper +- Place the waste paper in the basket with left gripper +- Place the eraser in pen holder with left gripper +- Grasp the waste paper with right gripper +- Place the pear in the plate +- Static +- Hand over the plastic +- Grasp the bottle with left gripper +- pick up the ruler +- Place the black pen in pen holder with left gripper +- Grasp the banana with left gripper +- Pick up the banana +- Hand over the banana +- Pick up the pen with right arm +- Place the cola can in the basket with right gripper +- Hand over the grapes +- Place the basket on the table with right gripper +- Pick up the red pencil sharpener +- Stand the bottle with left gripper +- Pick up the waste paper +- Grasp the blue pen with left gripper +- pick up the yellow knife +- Place the eraser into the pen holder +- Place the black pen in pen holder with right gripper +- Place the gray pen in pen holder with right gripper +- Place the gray pen in pen holder with left gripper +- Place the milk in the basket with right gripper +- pick up the red glue +- Hand over the yellow glue +- Hand over the bottle +- Place the plastic in the basket +- Pick up the grapes +- pick up the pink scissors +- pick up the silver glue +- Abnormal +- Place the blue pen in pen holder with right gripper +- Place the blue pen in pen holder with left gripper +- Place the yellow pen in pen holder with right gripper +- Grasp the cola can with right gripper +- Grasp the mango with left gripper +- Grasp the black pen with left gripper +- Grasp the blue pen with right gripper +- Grasp the eraser with right gripper +- Pick up the plastic +- Place the waste paper in the basket with right gripper +- Grasp the cola can with left gripper +- Place the cola can on the table with left gripper +- Pick up the eraser +- Grasp the waste paper with left gripper +- Grasp the yellow pen with right gripper +- Place the pink scissors into the pen holder +- Lift the basket with left gripper +- Pick up the bottle with the right arm +- Hand over the bread +- Place the grapes in the plate +- transfer the pen to the left arm +- transfer the bottle to the left arm +- Hand over the red glue +- End +- Hand over the yellow knife +- Hand over the ruler +- Place the blue scissors into the pen holder +- Place the yellow pen in pen holder with left gripper +- Hand over the blue knife +- Place the pen into the pen holder +- Pick up the pear +- transfer the pen to the right arm +- Place the blue knife into the pen holder +- Place the mango in the plate with left gripper +- pick up the yellow glue +- Hand over the pear +- Place the blue pencil sharpener into the pen holder +- Grasp the black pen with right gripper +- Hand over the pink scissors +- Pick up the bottle with the left arm +- Grasp the gray pen with right gripper +- Grasp the eraser with left gripper +- Place the eraser in pen holder with right gripper +- Grasp the basket with left gripper +- Pick up the pen with left arm +- Pick up the blue pencil sharpener +- pick up the bread +- Hand over the pen +- Place the milk in the basket with left gripper +- place the red glue into the pen holder +- Place the banana in the plate with left gripper +- Hand the basket to the right gripper with the left gripper +- place the bread in the plate +- Grasp the yellow pen with left gripper +- Hand over the blue scissors +- place the yellow glue into the pen holder +- pick up the blue knife +- Place the cola can on the table with right gripper +- Place the bottle +- Grasp the gray pen with left gripper +- Place the ruler into the pen holder +- pick up the blue scissors +- Grasp the milk with right gripper +- Place the banana in the plate +- Grasp the milk with left gripper +- Place the basket on the table with left gripper +- Hand over the silver glue +- Place the waste paper in the basket +- place the yellow knife into the pen holder +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_desktop_organization_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n\ + │ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ \ + \ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n\ + │ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ \ + \ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├──\ + \ episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n\ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ + \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ + \ episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ + \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ + \ episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ + \ episode_001004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 195 + dataset_name: desktop_organization + dataset_uuid: 32b7ba5a-b7c4-475c-8bcc-6b60402acd24 + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/clean_the_tabletop/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_desktop_organization + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: desktop_organization + dataset_uuid: null + task_descriptions: + - put the banana on the plate, put the waste paper in the basket, place the water + bottle upright near the plate, put the eraser in the pen holder, put the pen + in the pen holder. + - put the pear on the plate, put the waste paper in the basket, place the water + bottleupright near the plate, put the knife in the pen holder, put the ruler + in the penholder, put the pen in the pen holder. + - put the bread on the plate, put the small pieces of paper in the basket, place + thecoffee near the plate, put the pencil sharpener in the pen holder, put the + rulerin the pen holder, put the pen in the pen holder. + - put the grape on a plate, put the plastic sheet in the basket, place the teacupneatly + near the plate, put the scissor in the pen holder, put the ruler in the penholder, + put the colored glue in the pen holder. + - put the manngo and banana on the fruit tray, put the paper ball in the garbage + bin,straighten the water bottle, put the eraser and pen in the pen holder. + - pick up the green basket, put the cola inside the basket, and then put the basketdown. + - put the cola into the green basket. + - pick up the green basket, put the milk inside the basket, and then put the basketdown. + - put the milk into the green basket. + - pick up the green basket, put the spitball inside the basket, and then put the + basketdown. + - put the spitball into the green basket. + scene_type: + - home + - office + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null + - object_name: waste_paper + level1: garbage + level2: waste_paper + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + - object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null + - object_name: knife + level1: office_supplies + level2: knife + level3: null + level4: null + level5: null + - object_name: ruler + level1: office_supplies + level2: ruler + level3: null + level4: null + level5: null + - object_name: bread + level1: food + level2: bread + level3: null + level4: null + level5: null + - object_name: small_pieces_of_paper + level1: garbage + level2: small_pieces_of_paper + level3: null + level4: null + level5: null + - object_name: coffee + level1: drink + level2: coffee + level3: null + level4: null + level5: null + - object_name: pencil_sharpener + level1: office_supplies + level2: pencil_sharpener + level3: null + level4: null + level5: null + - object_name: grape + level1: fruit + level2: grape + level3: null + level4: null + level5: null + - object_name: plastic_sheet + level1: garbage + level2: plastic_sheet + level3: null + level4: null + level5: null + - object_name: teacup + level1: container + level2: teacup + level3: null + level4: null + level5: null + - object_name: colored_glue + level1: office_supplies + level2: colored_glue + level3: null + level4: null + level5: null + - object_name: scissor + level1: office_supplies + level2: scissor + level3: null + level4: null + level5: null + - object_name: mango + level1: fruit + level2: mango + level3: null + level4: null + level5: null + - object_name: fruit_tray + level1: container + level2: fruit_tray + level3: null + level4: null + level5: null + - object_name: paper_ball + level1: garbage + level2: paper_ball + level3: null + level4: null + level5: null + - object_name: garbage_bin + level1: container + level2: garbage_bin + level3: null + level4: null + level5: null + - object_name: water_bottle + level1: container + level2: water_bottle + level3: null + level4: null + level5: null + - object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null + - object_name: pen_holder + level1: garbage + level2: spitball + level3: null + level4: null + level5: null + - object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null + - object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_magic_aloha + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 1070 + total_frames: 2026628 + total_tasks: 6 + total_videos: 3210 + total_chunks: 2 + chunks_size: 1000 + fps: 30 + splits: + train: 0:1069 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_drawer_storage_mineral_water.yaml b/dataset_info/Cobot_Magic_drawer_storage_mineral_water.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e8a5fe1d3ecb60a440070154ba49c1dcb1a79ea0 --- /dev/null +++ b/dataset_info/Cobot_Magic_drawer_storage_mineral_water.yaml @@ -0,0 +1,810 @@ +dataset_name: drawer_storage_mineral_water +dataset_uuid: b3ab23c8-c660-442b-a379-1dad52a7e701 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +- pull +- push +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: mineral_water + level1: drink + level2: mineral_water + level3: null + level4: null + level5: null +- object_name: drawer + level1: container + level2: drawer + level3: null + level4: null + level5: null +path: Cobot_Magic_drawer_storage_mineral_water +video_url: ./assets/videos/Cobot_Magic_drawer_storage_mineral_water.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_drawer_storage_mineral_water.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 944.2MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 99 + total_frames: 55966 + total_tasks: 1 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +splits: + train: 0:98 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: open the drawer, place the mineral water bottle inside, then close the drawer. +sub_tasks: +- Open the drawer. +- Place the water bottle inside the drawer. +- Close the drawer. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_drawer_storage_mineral_water_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 300 + dataset_name: drawer_storage_mineral_water + dataset_uuid: b3ab23c8-c660-442b-a379-1dad52a7e701 + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGX/videos/train/drawer_storage_mineral_water/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_drawer_storage_mineral_water + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: drawer_storage_mineral_water + dataset_uuid: null + task_descriptions: + - open drawer place mineral water bottle inside close drawer. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + - pull + - push + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: mineral_water + level1: drink + level2: mineral_water + level3: null + level4: null + level5: null + - object_name: drawer + level1: container + level2: drawer + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_magic_aloha + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 99 + total_frames: 55966 + total_tasks: 1 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + fps: 50 + splits: + train: 0:98 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_fold_clothes.yaml b/dataset_info/Cobot_Magic_fold_clothes.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8404d6bce79b242e676f6cd2e7936a772f0d11e --- /dev/null +++ b/dataset_info/Cobot_Magic_fold_clothes.yaml @@ -0,0 +1,842 @@ +dataset_name: fold_clothes +dataset_uuid: 9ada1a09-15dc-469e-9b36-c01a488ceecf +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: long_sleeves + level1: clothing + level2: long_sleeves + level3: null + level4: null + level5: null +- object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null +path: Cobot_Magic_fold_clothes +video_url: ./assets/videos/Cobot_Magic_fold_clothes.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_fold_clothes.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 27.7GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 584 + total_frames: 774487 + total_tasks: 6 + total_videos: 1752 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:583 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'fold a grey long-sleeved shirt over a blue coffee tablecloth. + + fold a grey long-sleeved shirt over the brown coffee tablecloth. + + fold a grey long-sleeved shirt over a green coffee tablecloth. + + fold a grey long-sleeved shirt over a pink coffee tablecloth. + + fold a grey long-sleeved shirt over a white checkered tablecloth. + + fold a grey long-sleeved shirt on a white desktop.' +sub_tasks: +- End +- use the right arm to drag the right edge of the fabric to the left and folds it + over the left edge +- use the right arm to clamp the right edge of the fabric +- Use your right arm to clamp the cuff closest to him +- use the right arm to drag and place the cuff at thecentered position on the left + edge of the fabric +- use the right arm to drag the right edge of the fabric to the right and folds it + over the left edge +- Hold the left edge of the fabric with your left arm +- use the left arm to drag and drop the cuff onto the cuff closest to the left arm +- use the right arm to drag and drop the cuff onto the cuffclosest to the right arm +- Spread the clothes out flat on the table with both grippers +- use both arms to drag the lower edge of the fabric forward and fold it over the + upper edge +- use the left arm to drag and place the cuff at the centered position on the left + edge of the fabric +- Abnormal +- use both arms simultaneously to clamp the lower edge of the clothing fabric +- use the left arm to clamp the cuff farthest from it +- Use your right arm to clamp the cuff farthest to him +- use the left arm to clamp the cuff closest to it +- Drag the left edge of the fabric to the left with your left arm and fold it to the + right edge +- Spread the long sleeves with your arms and place them on the tabletop +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_front_rgb + name: cam_front_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_front_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_fold_clothes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 273 + dataset_name: fold_clothes + dataset_uuid: 9ada1a09-15dc-469e-9b36-c01a488ceecf + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha15000条/stacked_long_sleeves_gray-AH202506040001/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_fold_clothes + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: fold_clothes + dataset_uuid: null + task_descriptions: + - fold a grey long-sleeved shirt over a blue tablecloth. + - fold a grey long-sleeved shirt over the brown tablecloth. + - fold a grey long-sleeved shirt over a green tablecloth. + - fold a grey long-sleeved shirt over a pink tablecloth. + - fold a grey long-sleeved shirt on a white desktop. + - fold a grey long-sleeved shirt over a white checkered tablecloth. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: long_sleeves + level1: clothing + level2: long_sleeves + level3: null + level4: null + level5: null + - object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 584 + total_frames: 774487 + total_tasks: 6 + total_videos: 1752 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:583 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_fold_the_towel.yaml b/dataset_info/Cobot_Magic_fold_the_towel.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8eee8aae729b38042b3837655a3bb3f1a6ea33f1 --- /dev/null +++ b/dataset_info/Cobot_Magic_fold_the_towel.yaml @@ -0,0 +1,820 @@ +dataset_name: fold_the_towel +dataset_uuid: 15a5b235-0337-4484-9e0f-be8def7a8879 +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +- fold +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null +- object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null +path: Cobot_Magic_fold_the_towel +video_url: ./assets/videos/Cobot_Magic_fold_the_towel.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_fold_the_towel.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 5.1GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 177 + total_frames: 235124 + total_tasks: 3 + total_videos: 531 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +splits: + train: 0:176 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'fold the pink towel on the table with a white tablecloth. + + fold the pink towel on the table with a grey tablecloth. + + fold the pink towel on the white table.' +sub_tasks: +- End +- Fold the towel upwards with the both gripper +- Fold the towel upwards with the right gripper +- Tidy up the towels +- Fold the towel from right to left with the right gripper +- Fold the towel upwards with the left gripper +- Fold the towel +- abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_left_wrist_rgb_rgb + name: cam_left_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_right_wrist_rgb_rgb + name: cam_right_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_fold_the_towel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 326 + dataset_name: fold_the_towel + dataset_uuid: 15a5b235-0337-4484-9e0f-be8def7a8879 + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGXCompany2/videos/train/fold_towel/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_fold_the_towel + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: fold_the_towel + dataset_uuid: null + task_descriptions: + - fold the pink towel on the table with a white tablecloth. + - fold the green towel on the table with a white tablecloth + - fold the pink towel on the table with a grey tablecloth. + - fold the pink towel on the white table. + - fold the pink towel on the table with a green tablecloth. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + - fold + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null + - object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 177 + total_frames: 235124 + total_tasks: 3 + total_videos: 531 + total_chunks: 1 + chunks_size: 1000 + fps: 50 + splits: + train: 0:176 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_fold_towel_a.yaml b/dataset_info/Cobot_Magic_fold_towel_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9231403f212994949e4987294744180eed9e4bc6 --- /dev/null +++ b/dataset_info/Cobot_Magic_fold_towel_a.yaml @@ -0,0 +1,794 @@ +dataset_name: fold_towel_a +dataset_uuid: 2d50475c-06c8-47bd-a56f-c0d235e1835a +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +- fold +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null +path: Cobot_Magic_fold_towel_a +video_url: ./assets/videos/Cobot_Magic_fold_towel_a.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_fold_towel_a.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 1.7GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 96 + total_frames: 50478 + total_tasks: 1 + total_videos: 288 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +splits: + train: 0:95 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: fold the towel on the table twice. +sub_tasks: +- pick up the towel with two arm +- Fold the towel twice on the table +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_left_wrist_rgb_rgb + name: cam_left_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_right_wrist_rgb_rgb + name: cam_right_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_fold_towel_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 281 + dataset_name: fold_towel_a + dataset_uuid: 2d50475c-06c8-47bd-a56f-c0d235e1835a + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGX/videos/train/fold_towel/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_fold_towel_a + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: 98 + yaml: + dataset_name: fold_towel_a + dataset_uuid: null + task_descriptions: + - fold the towel on the table twice. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + - fold + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 96 + total_frames: 50478 + total_tasks: 1 + total_videos: 288 + total_chunks: 1 + chunks_size: 1000 + fps: 50 + splits: + train: 0:95 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_food_packaging.yaml b/dataset_info/Cobot_Magic_food_packaging.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1353e295e2f0361cb2caeab3850908cbab0a726 --- /dev/null +++ b/dataset_info/Cobot_Magic_food_packaging.yaml @@ -0,0 +1,989 @@ +dataset_name: food_packaging +dataset_uuid: d6b80e23-6bac-471f-a759-a475112b145d +scene_type: +- kitchen +atomic_actions: +- grasp +- pull +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: lunch_box + level1: container + level2: lunch_box + level3: null + level4: null + level5: null +- object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null +- object_name: bread + level1: food + level2: bread + level3: null + level4: null + level5: null +- object_name: pear + level1: fruit + level2: pear + level3: null + level4: null + level5: null +- object_name: cucumber + level1: vegetable + level2: cucumber + level3: null + level4: null + level5: null +- object_name: bag + level1: container + level2: bag + level3: null + level4: null + level5: null +- object_name: lemon + level1: fruit + level2: lemon + level3: null + level4: null + level5: null +path: Cobot_Magic_food_packaging +video_url: ./assets/videos/Cobot_Magic_food_packaging.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_food_packaging.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1M-10M +dataset_size: 25.8GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 798 + total_frames: 1470087 + total_tasks: 2 + total_videos: 2394 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:797 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'place lunch box,cucumber and pear into small packaging bag. + + place lunch box,banana and bread into big packaging bag.' +sub_tasks: +- Place the banana into the package +- Right hand grabs cucumber. +- Right hand moves lunch bag. +- Right hand grabs lunch bag. +- Discard. +- end +- Right hand grabs banana. +- Grasp the box with the right gripper +- Grasp the package with the left gripper +- Left hand grabs lunch box. +- Hold the package and Pick up the bread +- Left hand secures lunch bag. +- Abnormal +- Place the lemon into the package with the right gripper +- Grasp the banana with the right gripper +- Right hand grabs lunch box. +- Left hand stands lunch bag upright. +- Place the pear into the package with the right gripper +- Place the pear into the package +- Grasp the cucumber with the right gripper +- Place the box into the package +- Hold the package and Pick up the box +- Hold the package and Pick up the cucumber +- Right hand stands lunch bag upright. +- Pick up the banana +- Right hand grabs lemon. +- Place the banana into the package with the right gripper +- Place the bread into the package +- Right hand places into bag. +- Left hand moves lunch bag. +- Grasp the lemon with the right gripper +- Right hand grabs bread. +- Pick up the pear +- zip up the zipper to close the bag +- Pick up the box +- Right hand grabs pear. +- Right hand pulls zipper. +- Pick up the bread +- Grasp the pear with the right gripper +- Pick up the cucumber +- Hold the package and Pick up the pear +- Place the box into the package with the right gripper +- Place the cucumber into the package with the right gripper +- Right hand receives lunch box. +- Hold the package and Pick up the banana +- Left hand grabs lunch bag. +- Left hand lifts lunch box. +- Place the cucumber into the package +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_food_packaging_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 196 + dataset_name: food_packaging + dataset_uuid: d6b80e23-6bac-471f-a759-a475112b145d + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/food_packaging/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_food_packaging + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: food_packaging + dataset_uuid: null + task_descriptions: + - place lunch box,banana and bread into big packaging bag. + - place lunch box,cucumber and pear into small packaging bag. + - put the lunch box,banana and pear into the bag. + - put the lunch box,cucumber and lemon into the bag. + scene_type: + - kitchen + atomic_actions: + - grasp + - pull + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: lunch_box + level1: container + level2: lunch_box + level3: null + level4: null + level5: null + - object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null + - object_name: bread + level1: food + level2: bread + level3: null + level4: null + level5: null + - object_name: pear + level1: fruit + level2: pear + level3: null + level4: null + level5: null + - object_name: cucumber + level1: vegetable + level2: cucumber + level3: null + level4: null + level5: null + - object_name: bag + level1: container + level2: bag + level3: null + level4: null + level5: null + - object_name: lemon + level1: fruit + level2: lemon + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_magic_aloha + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 798 + total_frames: 1470087 + total_tasks: 2 + total_videos: 2394 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:797 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_make_fruit_salad.yaml b/dataset_info/Cobot_Magic_make_fruit_salad.yaml new file mode 100644 index 0000000000000000000000000000000000000000..54194f310b5aa75776057663c5002954527e0c15 --- /dev/null +++ b/dataset_info/Cobot_Magic_make_fruit_salad.yaml @@ -0,0 +1,961 @@ +dataset_name: make_fruit_salad +dataset_uuid: 271b7c53-966b-4ed0-a493-1efc8fd71d86 +scene_type: +- home +- kitchen +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +- object_name: apple + level1: fruit + level2: apple + level3: null + level4: null + level5: null +- object_name: bannana + level1: fruit + level2: bannana + level3: null + level4: null + level5: null +- object_name: grape + level1: fruit + level2: grape + level3: null + level4: null + level5: null +- object_name: mango + level1: fruit + level2: mango + level3: null + level4: null + level5: null +- object_name: lemon + level1: fruit + level2: lemon + level3: null + level4: null + level5: null +path: Cobot_Magic_make_fruit_salad +video_url: ./assets/videos/Cobot_Magic_make_fruit_salad.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_make_fruit_salad.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 3.4GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 687 + total_frames: 181253 + total_tasks: 5 + total_videos: 2061 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:686 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'put the apple in the black basket. + + put the banana in the black basket. + + put the grape in the black basket. + + put the lemon in the black basket. + + put the mango in the black basket.' +sub_tasks: +- Place the banana in the basket with left gripper +- Place the banana in the basket with right gripper +- Static +- Place the apple in the basket with right gripper +- Grasp the grape with right gripper +- End +- Grasp the mango with left gripper +- Grasp the lemon with left gripper +- Place the mango in the basket with right gripper +- Grasp the apple with left gripper +- Place the mango on the table with right gripper +- Place the lemon in the basket with right gripper +- Grasp the lemon with right gripper +- Grasp the grape with left gripper +- Place the apple in the basket with left gripper +- Grasp the mango with right gripper +- Place the grape in the basket with left gripper +- Abnormal +- Place the mango in the basket with left gripper +- Grasp the apple with right gripper +- Grasp the banana with left gripper +- Place the lemon in the basket with left gripper +- Grasp the banana with right gripper +- Place the grape in the basket with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_make_fruit_salad_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 207 + dataset_name: make_fruit_salad + dataset_uuid: 271b7c53-966b-4ed0-a493-1efc8fd71d86 + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/make_fruit_salad/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_make_fruit_salad + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: make_fruit_salad + dataset_uuid: null + task_descriptions: + - put the apple in the black basket. + - put the banana in the black basket. + - put the grape in the black basket. + - put the lemon in the black basket. + - put the mango in the black basket. + scene_type: + - home + - kitchen + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + - object_name: apple + level1: fruit + level2: apple + level3: null + level4: null + level5: null + - object_name: bannana + level1: fruit + level2: bannana + level3: null + level4: null + level5: null + - object_name: grape + level1: fruit + level2: grape + level3: null + level4: null + level5: null + - object_name: mango + level1: fruit + level2: mango + level3: null + level4: null + level5: null + - object_name: lemon + level1: fruit + level2: lemon + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_magic_aloha + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 687 + total_frames: 181253 + total_tasks: 5 + total_videos: 2061 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:686 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_make_hamburger.yaml b/dataset_info/Cobot_Magic_make_hamburger.yaml new file mode 100644 index 0000000000000000000000000000000000000000..96e63d09833246ee8e569112efa379a18033c696 --- /dev/null +++ b/dataset_info/Cobot_Magic_make_hamburger.yaml @@ -0,0 +1,1098 @@ +dataset_name: make_hamburger +dataset_uuid: 50b8b2d7-4195-4264-a972-36006de4241a +scene_type: +- restaurant +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: cheese + level1: food + level2: cheese + level3: null + level4: null + level5: null +- object_name: lettuce + level1: food + level2: lettuce + level3: null + level4: null + level5: null +- object_name: bread + level1: food + level2: bread + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: sliced_bread + level1: food + level2: sliced_bread + level3: null + level4: null + level5: null +- object_name: meat_pie + level1: food + level2: meat_pie + level3: null + level4: null + level5: null +- object_name: tomato_slices + level1: vegetable + level2: tomato_slices + level3: null + level4: null + level5: null +path: Cobot_Magic_make_hamburger +video_url: ./assets/videos/Cobot_Magic_make_hamburger.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_make_hamburger.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1M-10M +dataset_size: 46.7GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 3044 + total_frames: 1591383 + total_tasks: 4 + total_videos: 12176 + total_chunks: 4 + chunks_size: 1000 + fps: 30 +splits: + train: 0:3043 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_realsense_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'make a hamburger with cheese. + + make a hamburger with lettuce. + + make a hamburger with cheese and lettuce. + + place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.' +sub_tasks: +- Place the purple cabbage on the cutlet with the left gripper +- Pick up the tomato slice with the left gripper +- Right pick up the patty. +- Right place the lettuce leaf on the bread slice. +- Right place the patty on the tomato slice. +- Place the hamburger lid on the cutlet with the right gripper +- end +- Pick up the bread slices and place them on the tray with the left gripper +- Pick up the purple cabbage with the left gripper +- Left pick up the bottom bread slice. +- Place the lettuce leaf on the bread slice with the right gripper +- Pick up the bread slice with the left gripper +- Left pick up the cheese slice. +- Discard. +- Pick up the cheese slice with the right gripper +- Pick up the tomato slice with the right gripper +- Place the hamburger lid on the cheese slice with the right gripper +- Left place the bottom bread slice on the tray. +- Left place the tomato slice on the lettuce leaf. +- Abnormal +- Place the purple cabbage on the tomato slice with the left gripper +- Place the tomato slice on the lettuce leaf with the right gripper +- Left pick up the tomato slice. +- Pick up the lettuce leaf with the right gripper +- Place the tomato slice on the lettuce leaf with the left gripper +- Place the hamburger lid on the purple cabbage with the right gripper +- Place the tomato slice on the bread slice with the right gripper +- Place the cutlet on the tomato slice with the right gripper +- Place the hamburger lid on the cutlet slice with the left gripper +- Place the cheese slice on the cutlet with the left gripper +- Place the bread slice on the tray with the left gripper +- Place the cutlet on the lettuce leaf with the right gripper +- Left place the cheese slice on the patty. +- Place the hamburger lid on the cheese slice with the left gripper +- Pick up the cutlet with the right gripper +- Left place the bread on the tray. +- Pick up the hamburger lid with the right gripper +- Place the cheese slice on the cutlet with the right gripper +- Pick up the hamburger lid with the left gripper +- Right pick up the top bread slice. +- Pick up the meat patty and place it on top of the tomato with the right gripper +- Pick up the cheese slice with the left gripper +- Right pick up the lettuce leaf. +- Right place the lettuce leaf on the bottom bread. +- Left pick up the bottom bread. +- Right place the top bread slice on the cheese slice. +- Place the tomato slice on the bread slice with the left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_high_realsense_rgb + name: cam_high_realsense_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_realsense_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_make_hamburger_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n\ + │ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ \ + \ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n\ + │ ├── chunk-001/\n│ │ ├── episode_001000.parquet\n│ │ ├── episode_001001.parquet\n\ + │ │ ├── episode_001002.parquet\n│ │ ├── episode_001003.parquet\n│ │ \ + \ ├── episode_001004.parquet\n│ │ └── (...)\n│ ├── chunk-002/\n│ │ ├──\ + \ episode_002000.parquet\n│ │ ├── episode_002001.parquet\n│ │ ├── episode_002002.parquet\n\ + │ │ ├── episode_002003.parquet\n│ │ ├── episode_002004.parquet\n│ │ \ + \ └── (...)\n│ └── chunk-003/\n│ ├── episode_003000.parquet\n│ ├──\ + \ episode_003001.parquet\n│ ├── episode_003002.parquet\n│ ├── episode_003003.parquet\n\ + │ ├── episode_003004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ ├── chunk-000/\n │ ├── observation.images.cam_high_realsense_rgb/\n \ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │\ + \ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ + \ episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_high_rgb/\n\ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ + \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ + \ episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ + \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ + \ episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── chunk-001/\n │ ├── observation.images.cam_high_realsense_rgb/\n\ + \ │ │ ├── episode_001000.mp4\n │ │ ├── episode_001001.mp4\n │ \ + \ │ ├── episode_001002.mp4\n │ │ ├── episode_001003.mp4\n │ │ ├──\ + \ episode_001004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_high_rgb/\n\ + \ │ │ ├── episode_001000.mp4\n │ │ ├── episode_001001.mp4\n │ \ + \ │ ├── episode_001002.mp4\n │ │ ├── episode_001003.mp4\n │ │ ├──\ + \ episode_001004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ │ ├── episode_001000.mp4\n │ │ ├── episode_001001.mp4\n │ \ + \ │ ├── episode_001002.mp4\n │ │ ├── episode_001003.mp4\n │ │ ├──\ + \ episode_001004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ \ + \ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n ├── chunk-002/\n │ ├── observation.images.cam_high_realsense_rgb/\n\ + \ │ │ ├── episode_002000.mp4\n │ │ ├── episode_002001.mp4\n │ \ + \ │ ├── episode_002002.mp4\n │ │ ├── episode_002003.mp4\n │ │ ├──\ + \ episode_002004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_high_rgb/\n\ + \ │ │ ├── episode_002000.mp4\n │ │ ├── episode_002001.mp4\n │ \ + \ │ ├── episode_002002.mp4\n │ │ ├── episode_002003.mp4\n │ │ ├──\ + \ episode_002004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ │ ├── episode_002000.mp4\n │ │ ├── episode_002001.mp4\n │ \ + \ │ ├── episode_002002.mp4\n │ │ ├── episode_002003.mp4\n │ │ ├──\ + \ episode_002004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_002000.mp4\n │ ├── episode_002001.mp4\n │ \ + \ ├── episode_002002.mp4\n │ ├── episode_002003.mp4\n │ ├──\ + \ episode_002004.mp4\n │ └── (...)\n └── chunk-003/\n ├── observation.images.cam_high_realsense_rgb/\n\ + \ │ ├── episode_003000.mp4\n │ ├── episode_003001.mp4\n \ + \ │ ├── episode_003002.mp4\n │ ├── episode_003003.mp4\n │ ├──\ + \ episode_003004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_003000.mp4\n │ ├── episode_003001.mp4\n \ + \ │ ├── episode_003002.mp4\n │ ├── episode_003003.mp4\n │ ├──\ + \ episode_003004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_003000.mp4\n │ ├── episode_003001.mp4\n \ + \ │ ├── episode_003002.mp4\n │ ├── episode_003003.mp4\n │ ├──\ + \ episode_003004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_003000.mp4\n ├── episode_003001.mp4\n \ + \ ├── episode_003002.mp4\n ├── episode_003003.mp4\n ├──\ + \ episode_003004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 200 + dataset_name: make_hamburger + dataset_uuid: 50b8b2d7-4195-4264-a972-36006de4241a + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/make_hamburger/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_make_hamburger + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: make_hamburger + dataset_uuid: null + task_descriptions: + - make a hamburger with lettuce. + - make a hamburger with cheese. + - place the sliced bread, cheese, lettuce, meat patties, and tomato slices on + a plate. + - make a hamburger with cheese and lettuce. + scene_type: + - restaurant + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cheese + level1: food + level2: cheese + level3: null + level4: null + level5: null + - object_name: lettuce + level1: food + level2: lettuce + level3: null + level4: null + level5: null + - object_name: bread + level1: food + level2: bread + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: sliced_bread + level1: food + level2: sliced_bread + level3: null + level4: null + level5: null + - object_name: meat_pie + level1: food + level2: meat_pie + level3: null + level4: null + level5: null + - object_name: tomato_slices + level1: vegetable + level2: tomato_slices + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_magic_aloha + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 3044 + total_frames: 1591383 + total_tasks: 4 + total_videos: 12176 + total_chunks: 4 + chunks_size: 1000 + fps: 30 + splits: + train: 0:3043 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_realsense_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_mobile_cube.yaml b/dataset_info/Cobot_Magic_mobile_cube.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d0cebdc01ffcbe242f60fa119b6d33682b5db978 --- /dev/null +++ b/dataset_info/Cobot_Magic_mobile_cube.yaml @@ -0,0 +1,865 @@ +dataset_name: mobile_cube +dataset_uuid: ec621804-bf42-4f9d-971a-bbe5cb197144 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: cube_block + level1: toy + level2: cube_block + level3: null + level4: null + level5: null +path: Cobot_Magic_mobile_cube +video_url: ./assets/videos/Cobot_Magic_mobile_cube.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_mobile_cube.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 347.9MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 99 + total_frames: 21487 + total_tasks: 1 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:98 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: pick up the cube block and place it in another position on the table. +sub_tasks: +- End +- Pick up the small cube +- Place the small cube on the ahead of the table +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_mobile_cube_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 249 + dataset_name: mobile_cube + dataset_uuid: ec621804-bf42-4f9d-971a-bbe5cb197144 + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/aloha_weizhishuju/正方体移动位置/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_mobile_cube + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: mobile_cube + dataset_uuid: null + task_descriptions: + - pick up the cube block and place it in another position on the table. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cube_block + level1: toy + level2: cube_block + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 99 + total_frames: 21487 + total_tasks: 1 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:98 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_mobile_cube_blackboard.yaml b/dataset_info/Cobot_Magic_mobile_cube_blackboard.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cb984d7cd5fcab9f6edf4b98da689a770135b426 --- /dev/null +++ b/dataset_info/Cobot_Magic_mobile_cube_blackboard.yaml @@ -0,0 +1,869 @@ +dataset_name: mobile_cube_blackboard +dataset_uuid: 679f07f9-efb6-4a77-9347-2423da9981cd +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: cube_block + level1: toy + level2: cube_block + level3: null + level4: null + level5: null +path: Cobot_Magic_mobile_cube_blackboard +video_url: ./assets/videos/Cobot_Magic_mobile_cube_blackboard.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_mobile_cube_blackboard.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 3.4GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 100 + total_frames: 191398 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:99 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: pick up the multiple cubes in two columns one by one and place them in another + position on the table. +sub_tasks: +- Place the block at the correct position to assemble the letter S +- out of view +- End +- Pick up the block on the table +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_mobile_cube_blackboard_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 241 + dataset_name: mobile_cube_blackboard + dataset_uuid: 679f07f9-efb6-4a77-9347-2423da9981cd + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/aloha_weizhishuju/移动正方体们的位置/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_mobile_cube_blackboard + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: mobile_cube_blackboard + dataset_uuid: null + task_descriptions: + - pick up the multiple cubes in two columns one by one and place them in another + position on the table. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cube_block + level1: toy + level2: cube_block + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 100 + total_frames: 191398 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:99 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_move_beverage.yaml b/dataset_info/Cobot_Magic_move_beverage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..261945d92c595d99e4d2c79195ac5ffa1435000a --- /dev/null +++ b/dataset_info/Cobot_Magic_move_beverage.yaml @@ -0,0 +1,895 @@ +dataset_name: move_beverage +dataset_uuid: b6d0e7b1-1a5c-4188-bdca-cab2a7c613ed +scene_type: +- supermarket +- home +- restaurant +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: green_bottle_beverage + level1: drink + level2: green_bottle_beverage + level3: null + level4: null + level5: null +- object_name: red_bottle_beverage + level1: drink + level2: red_bottle_beverage + level3: null + level4: null + level5: null +- object_name: black_bottle_beverage + level1: drink + level2: black_bottle_beverage + level3: null + level4: null + level5: null +path: Cobot_Magic_move_beverage +video_url: ./assets/videos/Cobot_Magic_move_beverage.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_move_beverage.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 636.5MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 100 + total_frames: 31813 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:99 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: move one drink among three beverages. +sub_tasks: +- End +- Grasp the beverage bottle placed at the back of the desk +- Place the drink at the front of the table +- Pick up the drink +- Place the beverage bottle to the front of the table +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_move_beverage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 248 + dataset_name: move_beverage + dataset_uuid: b6d0e7b1-1a5c-4188-bdca-cab2a7c613ed + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/aloha_weizhishuju/在三个饮料中移动一个饮料位置/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_move_beverage + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: move_beverage + dataset_uuid: null + task_descriptions: + - move one drink among three beverages. + scene_type: + - supermarket + - home + - restaurant + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: green_bottle_beverage + level1: drink + level2: green_bottle_beverage + level3: null + level4: null + level5: null + - object_name: red_bottle_beverage + level1: drink + level2: red_bottle_beverage + level3: null + level4: null + level5: null + - object_name: black_bottle_beverage + level1: drink + level2: black_bottle_beverage + level3: null + level4: null + level5: null + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 100 + total_frames: 31813 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:99 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_move_plate.yaml b/dataset_info/Cobot_Magic_move_plate.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e99bbc6fd65a35047f9caec9ff5d6f0568b866b4 --- /dev/null +++ b/dataset_info/Cobot_Magic_move_plate.yaml @@ -0,0 +1,866 @@ +dataset_name: move_plate +dataset_uuid: c3ec4fbc-a32e-4246-896d-c962d096e53c +scene_type: +- home +- restaurant +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +path: Cobot_Magic_move_plate +video_url: ./assets/videos/Cobot_Magic_move_plate.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_move_plate.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 459.9MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 99 + total_frames: 25309 + total_tasks: 1 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:98 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: pick up the plate and place it in another position on the table. +sub_tasks: +- Pick the container that can hold fruits +- Move the picked object to the right side of the table +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_move_plate_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 233 + dataset_name: move_plate + dataset_uuid: c3ec4fbc-a32e-4246-896d-c962d096e53c + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/aloha_weizhishuju/移动圆盘位置/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_move_plate + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: 100 + yaml: + dataset_name: move_plate + dataset_uuid: null + task_descriptions: + - pick up the plate and place it in another position on the table. + scene_type: + - home + - restaurant + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 99 + total_frames: 25309 + total_tasks: 1 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:98 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_move_the_ball.yaml b/dataset_info/Cobot_Magic_move_the_ball.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9af5dc3c6ed579502a7546605e110a25a75a82c4 --- /dev/null +++ b/dataset_info/Cobot_Magic_move_the_ball.yaml @@ -0,0 +1,880 @@ +dataset_name: move_the_ball +dataset_uuid: 371a2f88-8a95-4044-ba5d-4c287fd9b679 +scene_type: +- industry +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: ball + level1: toy + level2: ball + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +path: Cobot_Magic_move_the_ball +video_url: ./assets/videos/Cobot_Magic_move_the_ball.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_move_the_ball.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 984.3MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 100 + total_frames: 58184 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:99 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: pick up the ball and place it on the plate, then pick up the ball from the + plate and put it in the center of the table. +sub_tasks: +- Put the picked-up object on the table. +- Grab the rolling spherical object. +- Grab the spherical object with your left arm. +- Place the sphere on the white object. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_move_the_ball_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 232 + dataset_name: move_the_ball + dataset_uuid: 371a2f88-8a95-4044-ba5d-4c287fd9b679 + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/aloha_weizhishuju/将小球放到圆盘上，后将小球移动至中央/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_move_the_ball + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: 100 + yaml: + dataset_name: move_the_ball + dataset_uuid: null + task_descriptions: + - pick up the ball and place it on the plate, then pick up the ball from the plate + and put it in the center of the table. + scene_type: + - industry + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: ball + level1: toy + level2: ball + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 100 + total_frames: 58184 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:99 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_move_the_ball_and_the_cube_block.yaml b/dataset_info/Cobot_Magic_move_the_ball_and_the_cube_block.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9a676fb0d13dc17a6dfbcb5a456966a45914979d --- /dev/null +++ b/dataset_info/Cobot_Magic_move_the_ball_and_the_cube_block.yaml @@ -0,0 +1,885 @@ +dataset_name: move_the_ball_and_the_cube_block +dataset_uuid: 7bcc81f3-9d87-4dbc-a06b-fb8a69efe0fb +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: ball + level1: toy + level2: ball + level3: null + level4: null + level5: null +- object_name: cube_block + level1: toy + level2: cube_block + level3: null + level4: null + level5: null +path: Cobot_Magic_move_the_ball_and_the_cube_block +video_url: ./assets/videos/Cobot_Magic_move_the_ball_and_the_cube_block.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_move_the_ball_and_the_cube_block.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 451.4MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 98 + total_frames: 23991 + total_tasks: 1 + total_videos: 294 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:97 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: remove the small ball from the cube, move the cube and then place the small + ball back on it. +sub_tasks: +- Grasp the sphere on the table +- Place the ball into the sphere recess +- End +- Place the ball on the table +- Pick up the ball +- Place the sphere recess in the center of the table +- Place the sphere into the sphere-shaped recess +- Pick up the sphere recess +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_move_the_ball_and_the_cube_block_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 253 + dataset_name: move_the_ball_and_the_cube_block + dataset_uuid: 7bcc81f3-9d87-4dbc-a06b-fb8a69efe0fb + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/aloha_weizhishuju/将正方体上的小球取下，移动正方体，再放上小球/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_move_the_ball_and_the_cube_block + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: move_the_ball_and_the_cube_block + dataset_uuid: null + task_descriptions: + - remove the small ball from the cube, move the cube and then place the small + ball back on it. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: ball + level1: toy + level2: ball + level3: null + level4: null + level5: null + - object_name: cube_block + level1: toy + level2: cube_block + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_magic_aloha + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 98 + total_frames: 23991 + total_tasks: 1 + total_videos: 294 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:97 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_move_the_ball_interference.yaml b/dataset_info/Cobot_Magic_move_the_ball_interference.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ef213e83c94212eab5d7d2075e3adf838f6acdb5 --- /dev/null +++ b/dataset_info/Cobot_Magic_move_the_ball_interference.yaml @@ -0,0 +1,879 @@ +dataset_name: move_the_ball_interference +dataset_uuid: 45746c8e-f6f6-4670-858c-5a53ac7dbacb +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: ball + level1: toy + level2: ball + level3: null + level4: null + level5: null +- object_name: cube_block + level1: toy + level2: cube_block + level3: null + level4: null + level5: null +path: Cobot_Magic_move_the_ball_interference +video_url: ./assets/videos/Cobot_Magic_move_the_ball_interference.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_move_the_ball_interference.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 440.3MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 100 + total_frames: 25598 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:99 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: pick up the ball next to the two cube blocks and place them in another position + on the table. +sub_tasks: +- Grasp the spherical object on the right side +- Place the picked object on the left side of the table +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_move_the_ball_interference_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 247 + dataset_name: move_the_ball_interference + dataset_uuid: 45746c8e-f6f6-4670-858c-5a53ac7dbacb + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/aloha_weizhishuju/移动小球位置（两个正方体干扰）/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_move_the_ball_interference + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: move_the_ball_interference + dataset_uuid: null + task_descriptions: + - pick up the ball next to the two cube blocks and place them in another position + on the table. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: ball + level1: toy + level2: ball + level3: null + level4: null + level5: null + - object_name: cube_block + level1: toy + level2: cube_block + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 100 + total_frames: 25598 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:99 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_move_the_bread.yaml b/dataset_info/Cobot_Magic_move_the_bread.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95f21eb3d50463ae9011ec607b398eeeadb3d4cb --- /dev/null +++ b/dataset_info/Cobot_Magic_move_the_bread.yaml @@ -0,0 +1,806 @@ +dataset_name: move_the_bread +dataset_uuid: 0279dfc1-8833-47b1-b5de-c7b01c3aef4c +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: bread + level1: food + level2: bread + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +path: Cobot_Magic_move_the_bread +video_url: ./assets/videos/Cobot_Magic_move_the_bread.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_move_the_bread.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 981.4MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 99 + total_frames: 57401 + total_tasks: 1 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +splits: + train: 0:98 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: grasp the yellow bread and place it into the yellow plate, then retrieve it. +sub_tasks: +- Pick the yellow bread on the yellow plate +- Place the yellow bread on the table +- Place the picked object on the yellow plate +- Grasp the yellow bread on the table +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_move_the_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 297 + dataset_name: move_the_bread + dataset_uuid: 0279dfc1-8833-47b1-b5de-c7b01c3aef4c + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGX/videos/train/move_the_bread/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_move_the_bread + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: move_the_bread + dataset_uuid: null + task_descriptions: + - grasp red bread place into yellow plate retrieve it. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: bread + level1: food + level2: bread + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 99 + total_frames: 57401 + total_tasks: 1 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + fps: 50 + splits: + train: 0:98 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_move_the_cup.yaml b/dataset_info/Cobot_Magic_move_the_cup.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7396e8ebaeae1d351fa2745afc9576edb87313c9 --- /dev/null +++ b/dataset_info/Cobot_Magic_move_the_cup.yaml @@ -0,0 +1,804 @@ +dataset_name: move_the_cup +dataset_uuid: 503e7d0b-c281-4ea6-98ff-ebe74764c6ad +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: glass_cup + level1: container + level2: glass_cup + level3: null + level4: null + level5: null +- object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null +path: Cobot_Magic_move_the_cup +video_url: ./assets/videos/Cobot_Magic_move_the_cup.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_move_the_cup.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 1.1GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 100 + total_frames: 28338 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +splits: + train: 0:99 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: grasp the transparent glass cup and place it within the blue towel. +sub_tasks: +- Grasp the transparent glass cup +- Place the glass cup on the blue zone +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_move_the_cup_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 293 + dataset_name: move_the_cup + dataset_uuid: 503e7d0b-c281-4ea6-98ff-ebe74764c6ad + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGX/videos/train/move_the_cup/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_move_the_cup + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: move_the_cup + dataset_uuid: null + task_descriptions: + - grasp the transparent glass cup and place it within the blue towel. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: glass_cup + level1: container + level2: glass_cup + level3: null + level4: null + level5: null + - object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 100 + total_frames: 28338 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 50 + splits: + train: 0:99 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_move_the_plate.yaml b/dataset_info/Cobot_Magic_move_the_plate.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fab76e4e26b8e8b07b0e5d3bf95756494257def0 --- /dev/null +++ b/dataset_info/Cobot_Magic_move_the_plate.yaml @@ -0,0 +1,792 @@ +dataset_name: move_the_plate +dataset_uuid: 8d39690e-e415-4f1c-9e39-2c0a83b6fe12 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +path: Cobot_Magic_move_the_plate +video_url: ./assets/videos/Cobot_Magic_move_the_plate.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_move_the_plate.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 418.0MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 98 + total_frames: 25057 + total_tasks: 1 + total_videos: 294 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +splits: + train: 0:97 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: Move the plate that can hold fruits to one side of the table. +sub_tasks: +- Pick the container that can hold fruits +- Move the picked object to the right side of the table +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_move_the_plate_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 299 + dataset_name: move_the_plate + dataset_uuid: 8d39690e-e415-4f1c-9e39-2c0a83b6fe12 + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGX/videos/train/move_the_plate/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_move_the_plate + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: move_the_plate + dataset_uuid: null + task_descriptions: + - move the plate that can hold fruits to the right side of the table. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 98 + total_frames: 25057 + total_tasks: 1 + total_videos: 294 + total_chunks: 1 + chunks_size: 1000 + fps: 50 + splits: + train: 0:97 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_move_the_small_ball.yaml b/dataset_info/Cobot_Magic_move_the_small_ball.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dd9cb277e377d4d2b8fcbadecd1d8287181cfed2 --- /dev/null +++ b/dataset_info/Cobot_Magic_move_the_small_ball.yaml @@ -0,0 +1,793 @@ +dataset_name: move_the_small_ball +dataset_uuid: d3bee16b-97e7-4e2b-ae25-346189946b81 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: spherical_object + level1: toy + level2: spherical_object + level3: null + level4: null + level5: null +path: Cobot_Magic_move_the_small_ball +video_url: ./assets/videos/Cobot_Magic_move_the_small_ball.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_move_the_small_ball.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 404.6MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 100 + total_frames: 25598 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +splits: + train: 0:99 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: Grasp the spherical object and relocate it to the opposite side. +sub_tasks: +- Grasp the spherical object on the right side +- Place the picked object on the left side of the table +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_move_the_small_ball_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 292 + dataset_name: move_the_small_ball + dataset_uuid: d3bee16b-97e7-4e2b-ae25-346189946b81 + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGX/videos/train/move_the_small_ball/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_move_the_small_ball + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: move_the_small_ball + dataset_uuid: null + task_descriptions: + - grasp the spherical object and relocate it to the left side. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: spherical_object + level1: toy + level2: spherical_object + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 100 + total_frames: 25598 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 50 + splits: + train: 0:99 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_movethe_position_of_the_bluetooth.yaml b/dataset_info/Cobot_Magic_movethe_position_of_the_bluetooth.yaml new file mode 100644 index 0000000000000000000000000000000000000000..29f292dd95e8879d8c0ec889f965b987f83dc577 --- /dev/null +++ b/dataset_info/Cobot_Magic_movethe_position_of_the_bluetooth.yaml @@ -0,0 +1,810 @@ +dataset_name: movethe_position_of_the_bluetooth +dataset_uuid: dc390f5c-b242-48d0-86f0-0932b22a8f6a +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: bluetooth_earbud + level1: electronic_products + level2: bluetooth_earbud + level3: null + level4: null + level5: null +- object_name: bluetooth_earphone_case + level1: electronic_products + level2: bluetooth_earphone_case + level3: null + level4: null + level5: null +path: Cobot_Magic_movethe_position_of_the_bluetooth +video_url: ./assets/videos/Cobot_Magic_movethe_position_of_the_bluetooth.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_movethe_position_of_the_bluetooth.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 850.5MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 198 + total_frames: 52508 + total_tasks: 2 + total_videos: 594 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +splits: + train: 0:197 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'Grasp the bluetooth earphone case and place it on one side of the table. + + Grasp the bluetooth earbud and place it on the other side of the table.' +sub_tasks: +- Place bluetooth earbud on the right side of the table +- Place bluetooth earphone case on the left side of the table +- Grasp the Bluetooth earphone case +- Grasp the Bluetooth earbud +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_movethe_position_of_the_bluetooth_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 284 + dataset_name: movethe_position_of_the_bluetooth + dataset_uuid: dc390f5c-b242-48d0-86f0-0932b22a8f6a + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGX/videos/train/movethe_position_of_the_bluetooth/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_movethe_position_of_the_bluetooth + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: movethe_position_of_the_bluetooth + dataset_uuid: null + task_descriptions: + - grasp the bluetooth earbud and place it on the right side of the table. + - grasp the bluetooth earphone case and place it on the left side of the table. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: bluetooth_earbud + level1: electronic_products + level2: bluetooth_earbud + level3: null + level4: null + level5: null + - object_name: bluetooth_earphone_case + level1: electronic_products + level2: bluetooth_earphone_case + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 198 + total_frames: 52508 + total_tasks: 2 + total_videos: 594 + total_chunks: 1 + chunks_size: 1000 + fps: 50 + splits: + train: 0:197 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_open_the_shoebox.yaml b/dataset_info/Cobot_Magic_open_the_shoebox.yaml new file mode 100644 index 0000000000000000000000000000000000000000..24065ad34f74070fcf5ed03a9eedd4e7af3dfc4b --- /dev/null +++ b/dataset_info/Cobot_Magic_open_the_shoebox.yaml @@ -0,0 +1,796 @@ +dataset_name: open_the_shoebox +dataset_uuid: 1708df8d-97e4-42b0-a8ee-de1bb93b4d77 +scene_type: +- home +atomic_actions: +- grasp +- pull +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null +path: Cobot_Magic_open_the_shoebox +video_url: ./assets/videos/Cobot_Magic_open_the_shoebox.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_open_the_shoebox.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 2.8GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 299 + total_frames: 185740 + total_tasks: 3 + total_videos: 897 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +splits: + train: 0:298 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'open the shoebox on the white tablecloth. + + open the shoebox on the cyan tablecloth. + + open the shoebox on the table.' +sub_tasks: +- Open the shoe box +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_open_the_shoebox_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 313 + dataset_name: open_the_shoebox + dataset_uuid: 1708df8d-97e4-42b0-a8ee-de1bb93b4d77 + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGXCompany/videos/train/open_the_shoe_box/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_open_the_shoebox + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: open_the_shoebox + dataset_uuid: null + task_descriptions: + - open the shoebox on the table. + - open the shoebox on the white tablecloth. + - open the shoebox on the cyan tablecloth. + scene_type: + - home + atomic_actions: + - grasp + - pull + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_magic_aloha + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 299 + total_frames: 185740 + total_tasks: 3 + total_videos: 897 + total_chunks: 1 + chunks_size: 1000 + fps: 50 + splits: + train: 0:298 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_place_square_pyramid.yaml b/dataset_info/Cobot_Magic_place_square_pyramid.yaml new file mode 100644 index 0000000000000000000000000000000000000000..526aa179bffd4de437ce9259391e1153cfee1d56 --- /dev/null +++ b/dataset_info/Cobot_Magic_place_square_pyramid.yaml @@ -0,0 +1,879 @@ +dataset_name: place_square_pyramid +dataset_uuid: 53a89b6b-14be-4a0e-8495-f3310b2ba5bd +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: cube_block + level1: toy + level2: cube_block + level3: null + level4: null + level5: null +- object_name: square_pyramid + level1: toy + level2: square_pyramid + level3: null + level4: null + level5: null +path: Cobot_Magic_place_square_pyramid +video_url: ./assets/videos/Cobot_Magic_place_square_pyramid.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_place_square_pyramid.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 521.2MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 99 + total_frames: 25851 + total_tasks: 1 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:98 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: pick up the square pyramid from the table and place it on the cube block. +sub_tasks: +- Place the block onto the cube-shaped block +- Place the triangular block onto the cube block +- End +- Grasp the triangular block +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_place_square_pyramid_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 235 + dataset_name: place_square_pyramid + dataset_uuid: 53a89b6b-14be-4a0e-8495-f3310b2ba5bd + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/aloha_weizhishuju/将四棱锥放到正方体上/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_place_square_pyramid + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: 100 + yaml: + dataset_name: place_square_pyramid + dataset_uuid: null + task_descriptions: + - pick up the square pyramid from the table and place it on the cube block. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cube_block + level1: toy + level2: cube_block + level3: null + level4: null + level5: null + - object_name: square_pyramid + level1: toy + level2: square_pyramid + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 99 + total_frames: 25851 + total_tasks: 1 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:98 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_place_the_cube_block.yaml b/dataset_info/Cobot_Magic_place_the_cube_block.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c3dba7a14db102627ce09e9677602bccbb659cbc --- /dev/null +++ b/dataset_info/Cobot_Magic_place_the_cube_block.yaml @@ -0,0 +1,877 @@ +dataset_name: place_the_cube_block +dataset_uuid: 8f5ebbc9-2983-4035-a6cd-395dcace072d +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: cube_block + level1: toy + level2: cube_block + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +path: Cobot_Magic_place_the_cube_block +video_url: ./assets/videos/Cobot_Magic_place_the_cube_block.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_place_the_cube_block.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 222.1MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 58 + total_frames: 12763 + total_tasks: 1 + total_videos: 174 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:57 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: pick up the cube block from the table and put it on the plate. +sub_tasks: +- Place it into the yellow plate +- Grasp the small cube on the table +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_place_the_cube_block_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 239 + dataset_name: place_the_cube_block + dataset_uuid: 8f5ebbc9-2983-4035-a6cd-395dcace072d + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/aloha_weizhishuju/将正方体放到蓝色盘子上/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_place_the_cube_block + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: place_the_cube_block + dataset_uuid: null + task_descriptions: + - pick up the cube block from the table and put it on the plate. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cube_block + level1: toy + level2: cube_block + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_magic_aloha + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 58 + total_frames: 12763 + total_tasks: 1 + total_videos: 174 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:57 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_place_the_test_tube.yaml b/dataset_info/Cobot_Magic_place_the_test_tube.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1967ad750bd897307093171f63eb8aa8dd80c504 --- /dev/null +++ b/dataset_info/Cobot_Magic_place_the_test_tube.yaml @@ -0,0 +1,849 @@ +dataset_name: place_the_test_tube +dataset_uuid: 070ad40e-7f20-4d3e-82d6-9cb8c0fb1f74 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: test_tube + level1: tool + level2: test_tube + level3: null + level4: null + level5: null +- object_name: test_tube_rack + level1: tool + level2: test_tube_rack + level3: null + level4: null + level5: null +- object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null +path: Cobot_Magic_place_the_test_tube +video_url: ./assets/videos/Cobot_Magic_place_the_test_tube.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_place_the_test_tube.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 6.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 364 + total_frames: 308346 + total_tasks: 6 + total_videos: 1092 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +splits: + train: 0:363 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'left gripper passes test tube to right gripper places on test tube holder. + + place the test tube on the test tube rack on the desk. + + place the test tube on the test tube rack on the green tablecloth. + + place the test tube on the test tube rack on the grey tablecloth. + + on cyan cloth pass tube from right to left gripper place on stand. + + on white cloth pass tube from right to left gripper place on stand.' +sub_tasks: +- Place the test tubes on the test tube rack with the right gripper +- Lift the test tube with the left hand. +- End +- Pass the test tube from the left gripper to the right gripper +- Pick up the test tubes from the table +- Place the test tubes on the rack +- Hand over the test tubes +- Grab the test tube with the left hand. +- Receive the test tube with the right hand. +- Pick up the test tube with the left gripper +- Insert it into the hole at the intersection of the 5th row from the top and the + 5th column from the left with the right hand. +- abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_left_wrist_rgb_rgb + name: cam_left_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_right_wrist_rgb_rgb + name: cam_right_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_place_the_test_tube_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 317 + dataset_name: place_the_test_tube + dataset_uuid: 070ad40e-7f20-4d3e-82d6-9cb8c0fb1f74 + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGXCompany/videos/train/place_the_test_tubes/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_place_the_test_tube + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: place_the_test_tube + dataset_uuid: null + task_descriptions: + - pick up the test tube on the white tablecloth with your left hand, hand it to + your right hand, and then place it on the test tube rack. + - pick up the test tube on the table with your left hand, hand it to your right + hand, and then place it on the test tube rack. + - pick up the test tube on the green tablecloth with your left hand, hand it to + your right hand, and then place it on the test tube rack. + - pick up the test tube on the gray tablecloth with your left hand, hand it to + your right hand, and then place it on the test tube rack. + - pick up the test tube on the green tablecloth with your right hand, hand it + to your left hand, and then place it on the test tube rack. + - pick up the test tube on the white tablecloth with your right hand, hand it + to your left hand, and then place it on the test tube rack. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: test_tube + level1: tool + level2: test_tube + level3: null + level4: null + level5: null + - object_name: test_tube_rack + level1: tool + level2: test_tube_rack + level3: null + level4: null + level5: null + - object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 364 + total_frames: 308346 + total_tasks: 6 + total_videos: 1092 + total_chunks: 1 + chunks_size: 1000 + fps: 50 + splits: + train: 0:363 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_plate_storage_apple.yaml b/dataset_info/Cobot_Magic_plate_storage_apple.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a5267e3dbc12756f17d733e0690278b61ba28acd --- /dev/null +++ b/dataset_info/Cobot_Magic_plate_storage_apple.yaml @@ -0,0 +1,805 @@ +dataset_name: plate_storage_apple +dataset_uuid: 4c90a2cc-aea8-4468-a7c2-b0afeae50a98 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: apple + level1: fruit + level2: apple + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +path: Cobot_Magic_plate_storage_apple +video_url: ./assets/videos/Cobot_Magic_plate_storage_apple.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_plate_storage_apple.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 605.5MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 103 + total_frames: 30676 + total_tasks: 1 + total_videos: 309 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +splits: + train: 0:102 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: grasp the apple and place it into the yellow plate. +sub_tasks: +- Grasp the fruit that can keep the doctor away +- Place the picked object into the yellow plate +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_left_wrist_rgb_rgb + name: cam_left_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_right_wrist_rgb_rgb + name: cam_right_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_plate_storage_apple_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 283 + dataset_name: plate_storage_apple + dataset_uuid: 4c90a2cc-aea8-4468-a7c2-b0afeae50a98 + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGX/videos/train/plate_storage_apple/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_plate_storage_apple + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: plate_storage_apple + dataset_uuid: null + task_descriptions: + - grasp the apple and place it into the yellow plate. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: apple + level1: fruit + level2: apple + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 103 + total_frames: 30676 + total_tasks: 1 + total_videos: 309 + total_chunks: 1 + chunks_size: 1000 + fps: 50 + splits: + train: 0:102 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_plate_storage_bread.yaml b/dataset_info/Cobot_Magic_plate_storage_bread.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0c96ddd6d54ba15c5094fe3eb92b23228d1ac943 --- /dev/null +++ b/dataset_info/Cobot_Magic_plate_storage_bread.yaml @@ -0,0 +1,805 @@ +dataset_name: plate_storage_bread +dataset_uuid: f4001f44-f88b-4812-a364-a7f937d58496 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: bread + level1: food + level2: bread + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +path: Cobot_Magic_plate_storage_bread +video_url: ./assets/videos/Cobot_Magic_plate_storage_bread.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_plate_storage_bread.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 515.0MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 100 + total_frames: 27875 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +splits: + train: 0:99 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: grasp the yellow bread and place it into the yellow plate. +sub_tasks: +- Grasp the yellow bread +- Place the bread into the yellow plate +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_plate_storage_bread_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 294 + dataset_name: plate_storage_bread + dataset_uuid: f4001f44-f88b-4812-a364-a7f937d58496 + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGX/videos/train/plate_storage_bread/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_plate_storage_bread + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: plate_storage_bread + dataset_uuid: null + task_descriptions: + - grasp the red bread and place it into the yellow plate. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: bread + level1: food + level2: bread + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 100 + total_frames: 27875 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 50 + splits: + train: 0:99 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_plate_storaje_baozi.yaml b/dataset_info/Cobot_Magic_plate_storaje_baozi.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cebf8365db168196375b68f8e0d82662457908d0 --- /dev/null +++ b/dataset_info/Cobot_Magic_plate_storaje_baozi.yaml @@ -0,0 +1,846 @@ +dataset_name: plate_storaje_baozi +dataset_uuid: 749fc774-003a-487c-948b-b6fc7ad307e1 +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null +- object_name: baozi + level1: food + level2: baozi + level3: null + level4: null + level5: null +- object_name: steamer + level1: container + level2: steamer + level3: null + level4: null + level5: null +path: Cobot_Magic_plate_storaje_baozi +video_url: ./assets/videos/Cobot_Magic_plate_storaje_baozi.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_plate_storaje_baozi.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 12.3GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 495 + total_frames: 261093 + total_tasks: 6 + total_videos: 1485 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:494 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'put the steamed buns into the plate on the blue tablecloth. + + put the steamed buns into the plate on the green tablecloth. + + put the steamed buns into the plate on the grey tablecloth. + + put the steamed buns into the plate on the pink tablecloth. + + put the steamed buns into the plate on the white-black tablecloth. + + put the steamed buns into the plate on the white tablecloth.' +sub_tasks: +- Grasp the baozi on the steamer with left gripper +- Abnormal +- Place the yellow baozi on the plate with left gripper +- Place the yellow baozi on the plate with right gripper +- End +- Grasp the dumpling with left gripper +- use the left arm to grab the steamed stuffed bun that is closest to it +- use the right arm to grab the steamed stuffed bun that is closest to it +- use the right arm to put the steamed stuffed bun into the plate +- Place the baozi on the plate with left gripper +- Grasp the yellow baozi on the steamer with left gripper +- use the left arm to put the steamed stuffed bun into the plate +- Place the dumpling on the steamer with right gripper +- Grasp the dumpling with right gripper +- Grasp the yellow baozi on the steamer with right gripper +- Place the dumpling on the steamer with left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_front_rgb + name: cam_front_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_front_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_plate_storaje_baozi_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 265 + dataset_name: plate_storaje_baozi + dataset_uuid: 749fc774-003a-487c-948b-b6fc7ad307e1 + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha15000条/buns_brought_plate-AH202503310006/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_plate_storaje_baozi + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: plate_storaje_baozi + dataset_uuid: null + task_descriptions: + - put the steamed buns into the plate on the blue tablecloth. + - put the steamed buns into the plate on the green tablecloth. + - put the steamed buns into the plate on the grey tablecloth. + - put the steamed buns into the plate on the pink tablecloth. + - put the steamed buns into the plate on the white tablecloth. + - put the steamed buns into the plate on the white-black tablecloth. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null + - object_name: baozi + level1: food + level2: baozi + level3: null + level4: null + level5: null + - object_name: steamer + level1: container + level2: steamer + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 495 + total_frames: 261093 + total_tasks: 6 + total_videos: 1485 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:494 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_pot_storage_steamer.yaml b/dataset_info/Cobot_Magic_pot_storage_steamer.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fdbd29dbfb2d96873083df0a391cec81f1ea03ef --- /dev/null +++ b/dataset_info/Cobot_Magic_pot_storage_steamer.yaml @@ -0,0 +1,851 @@ +dataset_name: pot_storage_steamer +dataset_uuid: 0416c89e-0f94-4be0-858c-9a8f3a1ed758 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: steamer + level1: container + level2: steamer + level3: null + level4: null + level5: null +- object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null +- object_name: pot + level1: container + level2: pot + level3: null + level4: null + level5: null +- object_name: lid + level1: daily_necessities + level2: lid + level3: null + level4: null + level5: null +path: Cobot_Magic_pot_storage_steamer +video_url: ./assets/videos/Cobot_Magic_pot_storage_steamer.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_pot_storage_steamer.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 19.7GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 590 + total_frames: 478978 + total_tasks: 6 + total_videos: 1770 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:589 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'place the steamer in the pot on the blue tablecloth, and put the lid on the + steamer. + + place the steamer in the pot on the green tablecloth, and put the lid on the steamer. + + place the steamer in the pot on the grey tablecloth, and put the lid on the steamer. + + place the steamer in the pot on the pink tablecloth, and put the lid on the steamer. + + place the steamer in the pot on the white tablecloth, and put the lid on the steamer. + + place the steamer in the pot on the white table, and put the lid on the steamer.' +sub_tasks: +- use the left arm to place the steamer lid on the steamer +- use the right arm to lift the steamer closest to it +- use the left arm to put the steamer into the iron steamer pot in the middle +- use the right arm to lift the lid of the steamer +- use the right arm to place the steamer lid on the steamer +- use the left arm to lift the lid of the steamer +- use the right arm to put the steamer into the iron steamer pot in the middle +- use the left arm to lift the steamer closest to it +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_front_rgb + name: cam_front_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_front_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_pot_storage_steamer_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 272 + dataset_name: pot_storage_steamer + dataset_uuid: 0416c89e-0f94-4be0-858c-9a8f3a1ed758 + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha15000条/place_steamer_pot-AH202503310003/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_pot_storage_steamer + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: pot_storage_steamer + dataset_uuid: null + task_descriptions: + - place steamer in pot on blue tablecloth put lid on steamer. + - place steamer in pot on green tablecloth put lid on steamer. + - place steamer in pot on grey tablecloth put lid on steamer. + - place steamer in pot on pink tablecloth put lid on steamer. + - place steamer in pot on white table put lid on steamer. + - place steamer in pot on white tablecloth put lid on steamer. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: steamer + level1: container + level2: steamer + level3: null + level4: null + level5: null + - object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null + - object_name: pot + level1: container + level2: pot + level3: null + level4: null + level5: null + - object_name: lid + level1: daily_necessities + level2: lid + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 590 + total_frames: 478978 + total_tasks: 6 + total_videos: 1770 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:589 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_pour_drink.yaml b/dataset_info/Cobot_Magic_pour_drink.yaml new file mode 100644 index 0000000000000000000000000000000000000000..645e5dbb4fa969888f777d4d741a5a837fe25696 --- /dev/null +++ b/dataset_info/Cobot_Magic_pour_drink.yaml @@ -0,0 +1,1269 @@ +dataset_name: pour_drink +dataset_uuid: 9b6b4d09-0c15-4d1f-b8f9-12be94c871cd +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +- pour +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: NFC_orange_juice + level1: drink + level2: NFC_orange_juice + level3: null + level4: null + level5: null +- object_name: red_wine + level1: drink + level2: red_wine + level3: null + level4: null + level5: null +- object_name: sprite + level1: drink + level2: sprite + level3: null + level4: null + level5: null +- object_name: black_mug + level1: container + level2: black_mug + level3: null + level4: null + level5: null +- object_name: paper_cup + level1: container + level2: paper_cup + level3: null + level4: null + level5: null +- object_name: transparent_cup + level1: container + level2: transparent_cup + level3: null + level4: null + level5: null +- object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null +- object_name: cestbon + level1: drink + level2: cestbon + level3: null + level4: null + level5: null +- object_name: coffee + level1: drink + level2: coffee + level3: null + level4: null + level5: null +- object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null +- object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null +- object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null +path: Cobot_Magic_pour_drink +video_url: ./assets/videos/Cobot_Magic_pour_drink.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_pour_drink.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 12.6GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 1613 + total_frames: 862292 + total_tasks: 61 + total_videos: 4839 + total_chunks: 2 + chunks_size: 1000 + fps: 30 +splits: + train: 0:1612 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'fill the black mug completely with NFC orange juice. + + pour half of the NFC orange juice into the black mug. + + pour three quarters of the NFC orange juice into the black mug. + + pour quarter of the NFC orange juice into the black mug. + + fill the paper cup completely with NFC orange juice. + + pour half of the NFC orange juice into the paper cup. + + pour three quarters of the NFC orange juice into the paper cup. + + pour quarter of the NFC orange juice into the paper cup. + + fill the transparent cup completely with NFC orange juice. + + pour half of the NFC orange juice into the transparent cup. + + pour three quarters of the NFC orange juice into the transparent cup. + + pour quarter of the NFC orange juice into the transparent cup. + + fill the black mug completely with red wine. + + pour half of the red wine into the black mug. + + pour three quarters of the red wine into the black mug. + + pour quarter of the red wine into the black mug. + + fill the paper cup completely with red wine. + + pour half of the red wine into the paper cup. + + pour three quarters of the red wine into the paper cup. + + pour quarter of the red wine into the paper cup. + + fill the transparent cup completely with red wine. + + pour half of the red wine into the transparent cup. + + pour three quarters of the red wine into the transparent cup. + + pour quarter of the red wine into the transparent cup. + + fill the black mug completely with sprite. + + pour half of the sprite into the black mug. + + pour three quarters of the sprite into the black mug. + + pour quarter of the sprite into the black mug. + + fill the paper cup completely with sprite. + + pour half of the sprite into the paper cup. + + pour three quarters of the sprite into the paper cup. + + pour quarter of the sprite into the paper cup. + + fill the transparent cup completely with sprite. + + pour half of the sprite into the transparent cup. + + pour three quarters of the sprite into the transparent cup. + + pour quarter of the sprite into the transparent cup. + + pour the cestbon into the black cup. + + pour the cestbon into the gray cup. + + pour the cestbon into the red cup. + + pour the cestbon into the white cup. + + pour the cestbon into the yellow cup. + + pour the coffee into the black cup. + + pour the coffee into the gray cup. + + pour the coffee into the white cup. + + pour the coffee into the yellow cup. + + pour the coffee into the red cup. + + pour the cola into the black cup. + + pour the cola into the gray cup. + + pour the cola into the red cup. + + pour the cola into the white cup. + + pour the cola into the yellow cup. + + pour the milk into the black cup. + + pour the milk into the gray cup. + + pour the milk into the red cup. + + pour the milk into the white cup. + + pour the milk into the yellow cup. + + pour the sprite into the black cup. + + pour the sprite into the gray cup. + + pour the sprite into the red cup. + + pour the sprite into the yellow cup. + + pour the sprite into the white cup.' +sub_tasks: +- Grasp the black cup with left gripper +- Grasp the white cup with right gripper +- Static +- Place the orange juice bottle on the table with left gripper +- Lift the black cup with left gripper +- Place the water bottle on the table with right gripper +- Place the grey cup on the table with left gripper +- End +- Place the sprite bottle on the table with right gripper +- Lift the red cup with left gripper +- Place the cola bottle on the table with left gripper +- Grasp the bottle with cola with right gripper +- Grasp the bottle with sprite with left gripper +- Pour the water from bottle to cup with right gripper +- Place the coffee bottle on the table with right gripper +- Grasp the bottle with orange juice with left gripper +- Pour the red wine from bottle to cup with left gripper +- Place the black cup in the center of view with right gripper +- Place the transparent cup on the table with right gripper +- Place the white cup on the table with right gripper +- Grasp the bottle filled water with right gripper +- Grasp the bottle with coffee with right gripper +- Place the yellow paper cup on the table with left gripper +- Pour the yuexian Milk from bottle to cup with right gripper +- Grasp the bottle with red wine with left gripper +- Grasp the black cup with right gripper +- Place the white cup on the table with left gripper +- Grasp the yellow paper cup with right gripper +- Grasp the yellow paper cup with left gripper +- Pour the orange juice from bottle to cup with left gripper +- Grasp the bottle with water with right gripper +- Pour the yogurt from bottle to cup with left gripper +- Grasp the bottle with yuexian Milk with right gripper +- Place the yellow paper cup on the table with right gripper +- Pour the cola from bottle to cup with right gripper +- Abnormal +- Grasp the white cup with left gripper +- Pour the sprite from bottle to cup with left gripper +- Lift the grey cup with left gripper +- Place the black cup on the table with left gripper +- Grasp the red cup with left gripper +- Place the red cup on the table with left gripper +- Lift the yellow paper cup with right gripper +- Grasp the grey cup with left gripper +- Place the yuexian Milk bottle on the table with right gripper +- Lift the yellow paper cup with left gripper +- Place the sprite bottle on the table with left gripper +- Lift the white cup with left gripper +- Place the cola bottle on the table with right gripper +- Pour the sprite from bottle to cup with right gripper +- Place the red wine bottle on the table with left gripper +- Lift the white cup with right gripper +- Grasp the transparent cup with right gripper +- Grasp the bottle with sprite with right gripper +- Pour the coffee from bottle to cup with right gripper +- Lift the grey cup with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_pour_drink_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n\ + │ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ \ + \ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n\ + │ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n\ + │ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ \ + \ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├──\ + \ episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n\ + \ │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ \ + \ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │\ + \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ + \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ + \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ + \ episode_001004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 192 + dataset_name: pour_drink + dataset_uuid: 9b6b4d09-0c15-4d1f-b8f9-12be94c871cd + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/pour_drink/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_pour_drink + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: pour_drink + dataset_uuid: null + task_descriptions: + - fill the black mug completely with NFC orange juice. + - pour half of the NFC orange juice into the black mug. + - pour three quarters of the NFC orange juice into the black mug. + - pour quarter of the NFC orange juice into the black mug. + - fill the paper cup completely with NFC orange juice. + - pour half of the NFC orange juice into the paper cup. + - pour three quarters of the NFC orange juice into the paper cup. + - pour quarter of the NFC orange juice into the paper cup. + - fill the transparent cup completely with NFC orange juice. + - pour half of the NFC orange juice into the transparent cup. + - pour three quarters of the NFC orange juice into the transparent cup. + - pour quarter of the NFC orange juice into the transparent cup. + - fill the black mug completely with red wine. + - pour half of the red wine into the black mug. + - pour three quarters of the red wine into the black mug. + - pour quarter of the red wine into the black mug. + - fill the paper cup completely with red wine. + - pour half of the red wine into the paper cup. + - pour three quarters of the red wine into the paper cup. + - pour quarter of the red wine into the paper cup. + - fill the transparent cup completely with red wine. + - pour half of the red wine into the transparent cup. + - pour three quarters of the red wine into the transparent cup. + - pour quarter of the red wine into the transparent cup. + - fill the black mug completely with sprite. + - pour half of the sprite into the black mug. + - pour three quarters of the sprite into the black mug. + - pour quarter of the sprite into the black mug. + - fill the paper cup completely with sprite. + - pour half of the sprite into the paper cup. + - pour three quarters of the sprite into the paper cup. + - pour quarter of the sprite into the paper cup. + - fill the transparent cup completely with sprite. + - pour half of the sprite into the transparent cup. + - pour three quarters of the sprite into the transparent cup. + - pour quarter of the sprite into the transparent cup. + - pour the cestbon into the black cup. + - pour the cestbon into the gray cup. + - pour the cestbon into the red cup. + - pour the cestbon into the white cup. + - pour the cestbon into the yellow cup. + - pour the coffee into the black cup. + - pour the coffee into the gray cup. + - pour the coffee into the red cup. + - pour the coffee into the white cup. + - pour the coffee into the yellow cup. + - pour the cola into the black cup. + - pour the cola into the gray cup. + - pour the cola into the red cup. + - pour the cola into the white cup. + - pour the cola into the yellow cup. + - pour the milk into the black cup. + - pour the milk into the gray cup. + - pour the milk into the red cup. + - pour the milk into the white cup. + - pour the milk into the yellow cup. + - pour the sprite into the black cup. + - pour the sprite into the gray cup. + - pour the sprite into the red cup. + - pour the sprite into the white cup. + - pour the sprite into the yellow cup. + - pour the cestbon onto the black tablecloth into the black cup. + - pour the cestbon onto the black tablecloth into the grey cup. + - pour the cestbon onto the black tablecloth into the red cup. + - pour the cestbon onto the black tablecloth into the white cup. + - pour the cestbon onto the black tablecloth into the yellow cup. + - pour the coffee onto the black tablecloth into the black cup. + - pour the coffee onto the black tablecloth into the grey cup. + - pour the coffee onto the black tablecloth into the red cup. + - pour the coffee onto the black tablecloth into the white cup. + - pour the coffee onto the black tablecloth into the yellow cup. + - pour the cola into the black cup on the black tablecloth. + - pour the cola into the grey cup on the black tablecloth. + - pour the cola into the red cup on the black tablecloth. + - pour the cola into the white cup on the black tablecloth. + - pour the cola into the yellow cup on the black tablecloth. + - pour the milk onto the black tablecloth into the black cup. + - pour the milk onto the black tablecloth into the grey cup. + - pour the milk onto the black tablecloth into the red cup. + - pour the milk onto the black tablecloth into the white cup. + - pour the milk onto the black tablecloth into the yellow cup. + - pour sprite into a black cup on a black tablecloth. + - pour sprite into a black cup on a grey tablecloth. + - pour sprite into a black cup on a red tablecloth. + - pour sprite into a black cup on a white tablecloth. + - pour sprite into a black cup on a yellow tablecloth. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + - pour + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: NFC_orange_juice + level1: drink + level2: NFC_orange_juice + level3: null + level4: null + level5: null + - object_name: red_wine + level1: drink + level2: red_wine + level3: null + level4: null + level5: null + - object_name: sprite + level1: drink + level2: sprite + level3: null + level4: null + level5: null + - object_name: black_mug + level1: container + level2: black_mug + level3: null + level4: null + level5: null + - object_name: paper_cup + level1: container + level2: paper_cup + level3: null + level4: null + level5: null + - object_name: transparent_cup + level1: container + level2: transparent_cup + level3: null + level4: null + level5: null + - object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null + - object_name: cestbon + level1: drink + level2: cestbon + level3: null + level4: null + level5: null + - object_name: coffee + level1: drink + level2: coffee + level3: null + level4: null + level5: null + - object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null + - object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null + - object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 1613 + total_frames: 862292 + total_tasks: 61 + total_videos: 4839 + total_chunks: 2 + chunks_size: 1000 + fps: 30 + splits: + train: 0:1612 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_pour_water_a.yaml b/dataset_info/Cobot_Magic_pour_water_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20f42e1367a78541afe676eb3e428bb37eb8bbfe --- /dev/null +++ b/dataset_info/Cobot_Magic_pour_water_a.yaml @@ -0,0 +1,1009 @@ +dataset_name: pour_water_a +dataset_uuid: 1cf008f5-6677-4b28-8eae-d7a325544806 +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: nongfu_spring_mineral_water + level1: drink + level2: nongfu_spring_mineral_water + level3: null + level4: null + level5: null +- object_name: yibao_mineral_water + level1: drink + level2: yibao_mineral_water + level3: null + level4: null + level5: null +- object_name: baisui_mountain_mineral_water + level1: drink + level2: baisui_mountain_mineral_water + level3: null + level4: null + level5: null +- object_name: wahaha_mineral_water + level1: drink + level2: wahaha_mineral_water + level3: null + level4: null + level5: null +- object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null +path: Cobot_Magic_pour_water_a +video_url: ./assets/videos/Cobot_Magic_pour_water_a.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_pour_water_a.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1M-10M +dataset_size: 13.8GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 896 + total_frames: 1302424 + total_tasks: 8 + total_videos: 2688 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:895 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'Pick up a paper cup and a bottle of Nongfu Spring mineral water, pour the + water into the paper cup, and then place both back on the table. + + Pick up a paper cup and a Yibao mineral water, pour the water into the paper cup, + and then place both back on the table. + + Pick up a paper cup and a Yibao mineral water, pour the water into the paper cup, + and then place both back on the table. + + Pick up a paper cup and a Nongfu Spring mineral water bottle, pour the water into + the paper cup, and then place both back on the table. + + Pick up a paper cup and a Nongfu Spring water bottle, pour the water into one of + them, and then put both down. + + Pick up a paper cup and a Yibao mineral water, pour water into one of them, and + then put both down. + + Pick up the blue paper cup and the Wahaha mineral water bottle, pour an appropriate + amount of water into the paper cup, and then put both down. + + Pick up the blue paper cup and the Bai Suishan mineral water bottle, pour an appropriate + amount of water into the paper cup, and then put both down.' +sub_tasks: +- Grab the paper cup on the right. +- Lift the paper cup on the right. +- Pick up the bottle +- Grab the bottle with right gripper +- Grab the water bottle on the right. +- Pour water from bottle to cup with the right gripper +- Abnormal +- Place the paper cup with the left gripper +- Lift the paper cup on the left. +- Place the bottle +- Put the cup down with left gripper +- Grasp the cup with left gripper +- Grasp the bottle with the left gripper +- Pour water from bottle to cup with the left gripper +- Take the water with left gripper +- End +- Receive water on the left. +- Pick up the cup +- Discard. +- Collect water on the right. +- Pour the water with right gripper +- Pour water from bottle to cup +- Grab the water bottle on the left. +- Put the bottle down with right gripper +- Place the water bottle on the right. +- Pour water on the left. +- Grab the paper cup on the left. +- Place the bottle with the left gripper +- Place the paper cup with the right gripper +- Place the bottle with the right gripper +- Place the paper cup on the right. +- Receive water on the right. +- Lift the cup with left gripper +- Grasp the paper cup with the right gripper +- Grasp the bottle with the right gripper +- Grasp the paper cup with the left gripper +- Pour water on the right. +- Collect water on the left. +- Place the cup +- Place the paper cup on the left. +- Place the water bottle on the left. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_pour_water_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 202 + dataset_name: pour_water_a + dataset_uuid: 1cf008f5-6677-4b28-8eae-d7a325544806 + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/pour_water/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_pour_water_a + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: pour_water_a + dataset_uuid: null + task_descriptions: + - pick up the paper cup with your left hand and the yibao mineral water with your + right hand. after holding both items by their ends, pour water into one of them, + then put down the paper cup and the yibao mineral water. + - pick up the paper cup with your left hand and the nongfu spring water bottle + with your right hand. after grabbing both items by their ends, pour the water + into one of them, then put down the paper cup and the nongfu spring water bottle. + - with the left hand, pick up the blue paper cup, with the right hand pick up + the wahaha mineral water bottle, pour an appropriate amount of water from the + right hand into the left hand paper cup, put down the blue paper cup with the + left hand, and put down the wahaha mineral water bottle with the right hand. + - pick up the blue paper cup with your left hand, then pick up the bai suishan + mineral water bottle with your right hand. pour an appropriate amount of water + from your right hand into the paper cup in your left hand. first, put down the + blue paper cup with your left hand, then put down the bai suishan mineral water + bottle with your right hand. + - pick up the yellow paper cup with the left hand, pick up the bai suishan mineral + water bottle with the right hand, pour an appropriate amount of water from the + right hand into the left hand's cup, first put down the yellow paper cup with + the left hand, and then put down the bai suishan mineral water bottle with the + right hand. + - with the left hand, pick up the yellow paper cup, and with the right hand, pick + up the wahaha mineral water bottle. pour an appropriate amount of water from + the right hand into the paper cup in the left hand, then first put down the + yellow paper cup with the left hand, and finally put down the wahaha mineral + water bottle with the right hand. + - pick up the paper cup with the left hand and the yibao mineral water with the + right hand, pour the water into the paper cup, and then place them back on the + table. + - picking up a paper cup with the left hand and a bottle of nongfu spring mineral + water with the right hand, pouring the water into the paper cup, and then placing + them back on the table after completing. + - pick up the paper cup with your right hand and the yibao mineral water with + your left hand, pour the water into the paper cup, and then place them back + on the table. + - picking up a paper cup with the right hand and a nongfu spring mineral water + bottle with the left hand, pour the water into the paper cup, and then place + them back on the table. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: nongfu_spring_mineral_water + level1: drink + level2: nongfu_spring_mineral_water + level3: null + level4: null + level5: null + - object_name: yibao_mineral_water + level1: drink + level2: yibao_mineral_water + level3: null + level4: null + level5: null + - object_name: baisui_mountain_mineral_water + level1: drink + level2: baisui_mountain_mineral_water + level3: null + level4: null + level5: null + - object_name: wahaha_mineral_water + level1: drink + level2: wahaha_mineral_water + level3: null + level4: null + level5: null + - object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_magic_aloha + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 896 + total_frames: 1302424 + total_tasks: 8 + total_videos: 2688 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:895 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_pour_water_bottle.yaml b/dataset_info/Cobot_Magic_pour_water_bottle.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dfd58bbb268485406eaa8dae85b77372d4283c02 --- /dev/null +++ b/dataset_info/Cobot_Magic_pour_water_bottle.yaml @@ -0,0 +1,899 @@ +dataset_name: pour_water_bottle +dataset_uuid: e375b064-04ad-4cb8-a8d4-d0994c11fa75 +scene_type: +- home +- kitchen +atomic_actions: +- grasp +- pick +- pour +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: bottle + level1: container + level2: bottle + level3: null + level4: null + level5: null +- object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null +- object_name: water + level1: drink + level2: water + level3: null + level4: null + level5: null +path: Cobot_Magic_pour_water_bottle +video_url: ./assets/videos/Cobot_Magic_pour_water_bottle.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_pour_water_bottle.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 1.1GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 92 + total_frames: 43905 + total_tasks: 1 + total_videos: 276 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:91 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: pick up the water bottle and pour the water in it into the glass +sub_tasks: +- End +- Grasp the mineral water bottle +- Pour water into the cup +- Anomaly +- Abnormal +- Pour water into the teacup +- Place the water bottle +- Pick up the water bottle +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_pour_water_bottle_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 243 + dataset_name: pour_water_bottle + dataset_uuid: e375b064-04ad-4cb8-a8d4-d0994c11fa75 + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/aloha_weizhishuju/倒水/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_pour_water_bottle + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: pour_water_bottle + dataset_uuid: null + task_descriptions: + - pick up the water bottle and pour the water in it into the glass + scene_type: + - home + - kitchen + atomic_actions: + - grasp + - pick + - pour + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: bottle + level1: container + level2: bottle + level3: null + level4: null + level5: null + - object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null + - object_name: water + level1: drink + level2: water + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 92 + total_frames: 43905 + total_tasks: 1 + total_videos: 276 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:91 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_prepare_breakfast.yaml b/dataset_info/Cobot_Magic_prepare_breakfast.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f152bfafa4b6d50e611dd618f79ea393f21bd319 --- /dev/null +++ b/dataset_info/Cobot_Magic_prepare_breakfast.yaml @@ -0,0 +1,962 @@ +dataset_name: prepare_breakfast +dataset_uuid: fd0e715a-40a9-41a6-b734-b517862e255e +scene_type: +- home +- kitchen +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: apple + level1: fruit + level2: apple + level3: null + level4: null + level5: null +- object_name: egg + level1: food + level2: egg + level3: null + level4: null + level5: null +- object_name: croissant + level1: food + level2: croissant + level3: null + level4: null + level5: null +- object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null +- object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null +path: Cobot_Magic_prepare_breakfast +video_url: ./assets/videos/Cobot_Magic_prepare_breakfast.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_prepare_breakfast.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 1.5GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 565 + total_frames: 125115 + total_tasks: 5 + total_videos: 1695 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:564 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'pick up the apple and put it in the plate. + + pick up the croissant and put it in the plate. + + pick up the egg and put it in the plate. + + pick up the milk and place it next to the plate. + + pick up the cola and place it next to the plate.' +sub_tasks: +- Place the apple on the plate with left gripper +- Place the round bread on the plate with left gripper +- Grasp the egg with left gripper +- Place the egg on the plate with left gripper +- Place the cola on the table with right gripper +- Grasp the apple with left gripper +- Grasp the round bread with right gripper +- Grasp the milk with left gripper +- Place the milk on the table with right gripper +- Place the apple on the plate with right gripper +- Place the milk on the table with left gripper +- Place the cola on the plate with right gripper +- Grasp the cola with right gripper +- Grasp the egg with right gripper +- Grasp the cola with left gripper +- Place the apple on the table with left gripper +- Grasp the milk with right gripper +- Place the cola on the table with left gripper +- Static +- End +- Place the round bread on the plate with right gripper +- Grasp the round bread with left gripper +- Place the egg on the plate with right gripper +- Abnormal +- Grasp the apple with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_prepare_breakfast_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 198 + dataset_name: prepare_breakfast + dataset_uuid: fd0e715a-40a9-41a6-b734-b517862e255e + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/prepare_breakfast/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_prepare_breakfast + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: prepare_breakfast + dataset_uuid: null + task_descriptions: + - pick up the apple and put it in the plate. + - pick up the egg and put it in the plate. + - pick up the croissant and put it in the plate. + - pick up the cola and place it next to the plate. + - pick up the milk and place it next to the plate. + scene_type: + - home + - kitchen + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: apple + level1: fruit + level2: apple + level3: null + level4: null + level5: null + - object_name: egg + level1: food + level2: egg + level3: null + level4: null + level5: null + - object_name: croissant + level1: food + level2: croissant + level3: null + level4: null + level5: null + - object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null + - object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 565 + total_frames: 125115 + total_tasks: 5 + total_videos: 1695 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:564 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_pull_zipper.yaml b/dataset_info/Cobot_Magic_pull_zipper.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2c33ba876a542bdcce643f1f624918373babb7ca --- /dev/null +++ b/dataset_info/Cobot_Magic_pull_zipper.yaml @@ -0,0 +1,900 @@ +dataset_name: pull_zipper +dataset_uuid: 3ede76ea-63fb-4de1-a796-a3809b4e09fa +scene_type: +- home +atomic_actions: +- grasp +- pull +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: bag + level1: container + level2: bag + level3: null + level4: null + level5: null +path: Cobot_Magic_pull_zipper +video_url: ./assets/videos/Cobot_Magic_pull_zipper.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_pull_zipper.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 11.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 1868 + total_frames: 836317 + total_tasks: 6 + total_videos: 5604 + total_chunks: 2 + chunks_size: 1000 + fps: 30 +splits: + train: 0:1867 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'pull up zipper of the bag. + + pull up zipper of the black bag. + + pull open zipper of the black bag. + + pull up zipper of the white bag. + + pull up zipper of the yellow bag. + + pull open zipper of the yellow bag.' +sub_tasks: +- Pull the zipper with right gripper +- Pull open the zipper with your left hand. +- Grasp the bag with left gripper +- Hold the bag with your right hand. +- End +- Zip up the bag with your left hand. +- Zip up the bag with your right hand. +- Grasp the bag with right gripper +- Pull the zipper with left gripper +- Grab the zipper with your left hand. +- Discard. +- Pull open the zipper with your right hand. +- Hold the bag with your left hand. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_pull_zipper_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n\ + │ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ \ + \ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n\ + │ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n\ + │ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ \ + \ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├──\ + \ episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n\ + \ │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ \ + \ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │\ + \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ + \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ + \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ + \ episode_001004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 257 + dataset_name: pull_zipper + dataset_uuid: 3ede76ea-63fb-4de1-a796-a3809b4e09fa + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/pull_zipper/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_pull_zipper + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: pull_zipper + dataset_uuid: null + task_descriptions: + - pull up zipper of the bag. + - pull up zipper of the black bag. + - pull open zipper of the black bag. + - pull up zipper of the white bag. + - pull up zipper of the yellow bag. + - pull open zipper of the yellow bag. + scene_type: + - home + atomic_actions: + - grasp + - pull + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: bag + level1: container + level2: bag + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - device_model:- agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 1868 + total_frames: 836317 + total_tasks: 6 + total_videos: 5604 + total_chunks: 2 + chunks_size: 1000 + fps: 30 + splits: + train: 0:1867 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_pushing_magnet.yaml b/dataset_info/Cobot_Magic_pushing_magnet.yaml new file mode 100644 index 0000000000000000000000000000000000000000..25a89dd31b3acd1e7ee0b0a89334bcbf3bcee69b --- /dev/null +++ b/dataset_info/Cobot_Magic_pushing_magnet.yaml @@ -0,0 +1,860 @@ +dataset_name: pushing_magnet +dataset_uuid: ad07d99e-6bee-4147-b81a-8f2dfe943ed8 +scene_type: +- home +atomic_actions: +- push +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: magnet + level1: tool + level2: magnet + level3: null + level4: null + level5: null +path: Cobot_Magic_pushing_magnet +video_url: ./assets/videos/Cobot_Magic_pushing_magnet.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_pushing_magnet.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 423.5MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 100 + total_frames: 23553 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:99 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: push the magnet on the table from its original position to another position. +sub_tasks: +- End +- Push the magnet on the right to connect the magnet on the left +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_pushing_magnet_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 246 + dataset_name: pushing_magnet + dataset_uuid: ad07d99e-6bee-4147-b81a-8f2dfe943ed8 + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/aloha_weizhishuju/推磁铁/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_pushing_magnet + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: pushing_magnet + dataset_uuid: null + task_descriptions: + - push the magnet on the table from its original position to another position. + scene_type: + - home + atomic_actions: + - push + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: magnet + level1: tool + level2: magnet + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 100 + total_frames: 23553 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:99 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_put_in_the_pear.yaml b/dataset_info/Cobot_Magic_put_in_the_pear.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d5c919792b7d86b13f21942b1ae787dfbe6307b --- /dev/null +++ b/dataset_info/Cobot_Magic_put_in_the_pear.yaml @@ -0,0 +1,794 @@ +dataset_name: put_in_the_pear +dataset_uuid: 9ef9a074-b4b1-4d16-a577-460381b81a91 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: pear + level1: fruit + level2: pear + level3: null + level4: null + level5: null +path: Cobot_Magic_put_in_the_pear +video_url: ./assets/videos/Cobot_Magic_put_in_the_pear.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_put_in_the_pear.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 461.5MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 97 + total_frames: 21690 + total_tasks: 1 + total_videos: 291 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +splits: + train: 0:96 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: Grasp the pear and place it on one side of the table. +sub_tasks: +- Grasp the high-fiber fruit +- abnormal +- Place it on the right side of the table +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_put_in_the_pear_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 286 + dataset_name: put_in_the_pear + dataset_uuid: 9ef9a074-b4b1-4d16-a577-460381b81a91 + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGX/videos/train/put_in_the_pear/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_put_in_the_pear + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: put_in_the_pear + dataset_uuid: null + task_descriptions: + - grasp the pear and place it on the right side of the table. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: pear + level1: fruit + level2: pear + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 97 + total_frames: 21690 + total_tasks: 1 + total_videos: 291 + total_chunks: 1 + chunks_size: 1000 + fps: 50 + splits: + train: 0:96 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_put_the_building_block_on_the_table.yaml b/dataset_info/Cobot_Magic_put_the_building_block_on_the_table.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b6d56f43853fad42f152970e1bd53c98038d5f6d --- /dev/null +++ b/dataset_info/Cobot_Magic_put_the_building_block_on_the_table.yaml @@ -0,0 +1,796 @@ +dataset_name: put_the_building_block_on_the_table +dataset_uuid: 04f51db4-3cdd-4327-93ad-41b490a4c52c +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +- rotate +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: building_block + level1: toy + level2: building_block + level3: null + level4: null + level5: null +path: Cobot_Magic_put_the_building_block_on_the_table +video_url: ./assets/videos/Cobot_Magic_put_the_building_block_on_the_table.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_put_the_building_block_on_the_table.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 400.2MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 98 + total_frames: 19816 + total_tasks: 1 + total_videos: 294 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +splits: + train: 0:97 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: grasp the rotating cube-shaped block on the turntable and place it on the table. +sub_tasks: +- Grasp the rotating cube-shaped block on the turntable +- Place the cube on the desk +- abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_put_the_building_block_on_the_table_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 289 + dataset_name: put_the_building_block_on_the_table + dataset_uuid: 04f51db4-3cdd-4327-93ad-41b490a4c52c + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGX/videos/train/turn_the_building_block/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_put_the_building_block_on_the_table + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: put_the_building_block_on_the_table + dataset_uuid: null + task_descriptions: + - grasp the rotating cube shaped block on the turntable and place it on the table. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + - rotate + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: building_block + level1: toy + level2: building_block + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 98 + total_frames: 19816 + total_tasks: 1 + total_videos: 294 + total_chunks: 1 + chunks_size: 1000 + fps: 50 + splits: + train: 0:97 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_steamer_storage_dumpling.yaml b/dataset_info/Cobot_Magic_steamer_storage_dumpling.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c5bdca4c3d2472ebe50f711984010a8de76309c5 --- /dev/null +++ b/dataset_info/Cobot_Magic_steamer_storage_dumpling.yaml @@ -0,0 +1,840 @@ +dataset_name: steamer_storage_dumpling +dataset_uuid: df5bb1ee-1fd7-4b3d-8502-4cda9ee6bbc5 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: dumplings + level1: food + level2: dumplings + level3: null + level4: null + level5: null +- object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null +- object_name: steamer + level1: container + level2: steamer + level3: null + level4: null + level5: null +path: Cobot_Magic_steamer_storage_dumpling +video_url: ./assets/videos/Cobot_Magic_steamer_storage_dumpling.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_steamer_storage_dumpling.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 19.8GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 580 + total_frames: 417589 + total_tasks: 6 + total_videos: 1740 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:579 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'put the dumplings into the steamer on the table with the blue tablecloth. + + put the dumplings into the steamer on the table with the brown tablecloth. + + put the dumplings into the steamer on the table with the grey tablecloth. + + put the dumplings into the steamer on the table with the pink tablecloth. + + put the dumplings into the steamer on the white table. + + put the dumplings into the steamer on the table with the white tablecloth.' +sub_tasks: +- use the left arm to put the dumpling into the steamer +- Abnormal +- use the right arm to put the dumpling into the steamer +- Grasp the dumpling with left gripper +- End +- Place the dumpling on the steamer with right gripper +- use the left arm to grab a dumpling +- Grasp the dumpling with right gripper +- use the right arm to grab a dumpling +- Place the dumpling on the steamer with left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_front_rgb + name: cam_front_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_front_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_steamer_storage_dumpling_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 266 + dataset_name: steamer_storage_dumpling + dataset_uuid: df5bb1ee-1fd7-4b3d-8502-4cda9ee6bbc5 + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha15000条/dumplings_drawer_AH202503310002/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_steamer_storage_dumpling + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: steamer_storage_dumpling + dataset_uuid: null + task_descriptions: + - put the dumplings into the steamer on the table with the blue tablecloth. + - put the dumplings into the steamer on the table with the brown tablecloth. + - put the dumplings into the steamer on the table with the grey tablecloth. + - put the dumplings into the steamer on the table with the pink tablecloth. + - put the dumplings into the steamer on the white table. + - put the dumplings into the steamer on the table with the white tablecloth. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: dumplings + level1: food + level2: dumplings + level3: null + level4: null + level5: null + - object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null + - object_name: steamer + level1: container + level2: steamer + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 580 + total_frames: 417589 + total_tasks: 6 + total_videos: 1740 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:579 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_storage_plate.yaml b/dataset_info/Cobot_Magic_storage_plate.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ef52563a7a8484f20f145dceb3463c0117128fc --- /dev/null +++ b/dataset_info/Cobot_Magic_storage_plate.yaml @@ -0,0 +1,843 @@ +dataset_name: storage_plate +dataset_uuid: 9f0b0953-fa62-4d10-8b2a-17b1ff44e9cf +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: rack + level1: furniture + level2: rack + level3: null + level4: null + level5: null +- object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +path: Cobot_Magic_storage_plate +video_url: ./assets/videos/Cobot_Magic_storage_plate.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_storage_plate.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 903.4MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 84 + total_frames: 57019 + total_tasks: 1 + total_videos: 252 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +splits: + train: 0:83 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: place the plate on the shelf on the green table. +sub_tasks: +- Left grab the white plate. +- Left grab the gray plate. +- Place the plate on the rack +- Right place it at the front of the shelf. +- Right receive the plate. +- Pick up the plate from the table +- Left lift the plate. +- end +- Left grab the blue plate. +- Left grab the yellow plate. +- Hand over the plate +- Right place it at the back of the shelf. +- Left grab the pink plate. +- Left grab the green plate. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_left_wrist_rgb_rgb + name: cam_left_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_right_wrist_rgb_rgb + name: cam_right_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_storage_plate_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 332 + dataset_name: storage_plate + dataset_uuid: 9f0b0953-fa62-4d10-8b2a-17b1ff44e9cf + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGXCompany2/videos/train/place_plate_on_rack/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_storage_plate + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: place_the_test_tube + dataset_uuid: null + task_descriptions: + - pick up the test tube on the green tablecloth with your left hand hand it to + your right hand and then place it on the test tube rack. + - pick up the test tube on the green tablecloth with your right hand hand it to + your left hand and then place it on the test tube rack. + - pick up the test tube on the black tablecloth with your left hand hand it to + your right hand and then place it on the test tube rack. + - pick up the test tube on the black tablecloth with your right hand hand it to + your left hand and then place it on the test tube rack. + - pick up the test tube on the table with your left hand hand it to your right + hand and then place it on the test tube rack. + - pick up the test tube on the table with your right hand hand it to your left + hand and then place it on the test tube rack. + - the left hand picks up a test tube from the gray tablecloth hands it to the + right hand and then places it on the test tube rack. + - the right hand picks up a test tube from the gray tablecloth hands it to the + left hand and then places it on the test tube rack. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: rack + level1: furniture + level2: rack + level3: null + level4: null + level5: null + - object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 84 + total_frames: 57019 + total_tasks: 1 + total_videos: 252 + total_chunks: 1 + chunks_size: 1000 + fps: 50 + splits: + train: 0:83 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_take_out_a_pen_from_the_pen_holder.yaml b/dataset_info/Cobot_Magic_take_out_a_pen_from_the_pen_holder.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2cf0fa0932ce83ecb55304f769edf5562180b7de --- /dev/null +++ b/dataset_info/Cobot_Magic_take_out_a_pen_from_the_pen_holder.yaml @@ -0,0 +1,838 @@ +dataset_name: take_out_a_pen_from_the_pen_holder +dataset_uuid: 836047ba-9812-4f07-b6bd-1d98e5c01c1d +scene_type: +- office +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null +- object_name: pen_holder + level1: office_supplies + level2: pen_holder + level3: null + level4: null + level5: null +- object_name: tablecloth + level1: fabric + level2: tablecloth + level3: null + level4: null + level5: null +path: Cobot_Magic_take_out_a_pen_from_the_pen_holder +video_url: ./assets/videos/Cobot_Magic_take_out_a_pen_from_the_pen_holder.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_take_out_a_pen_from_the_pen_holder.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 6.5GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 488 + total_frames: 225692 + total_tasks: 5 + total_videos: 1464 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +splits: + train: 0:487 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'put the pen in the pen holder on the white table with the left gripper. + + place the pen in the pen holder on the grey table with the left gripper. + + place the pen in the pen holder on the grey table with the right gripper. + + put the pen in the pen holder on the green table with the right gripper. + + put the pen in the pen holder on the white table with the right gripper.' +sub_tasks: +- Place the pen on the table with the left gripper +- Abnormal +- End +- Pick up the pen with the left gripper +- Pick up the pen from the pen holder +- Place the pen on the table with the right gripper +- Pick up the pen with the right gripper +- Place the pen on the table +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_left_wrist_rgb_rgb + name: cam_left_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_right_wrist_rgb_rgb + name: cam_right_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_take_out_a_pen_from_the_pen_holder_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 310 + dataset_name: take_out_a_pen_from_the_pen_holder + dataset_uuid: 836047ba-9812-4f07-b6bd-1d98e5c01c1d + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGXCompany/videos/train/take_out_a_pen_from_the_pen_holder/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_take_out_a_pen_from_the_pen_holder + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: take_out_a_pen_from_the_pen_holder + dataset_uuid: null + task_descriptions: + - place the pen in the pen holder on the grey tablecloth with the left gripper. + - put the pen in the pen holder on the green tablecloth with the left gripper. + - put the pen in the pen holder on the white tablecloth with the left gripper. + - place the pen in the pen holder on the grey tablecloth with the right gripper. + - put the pen in the pen holder on the green tablecloth with the right gripper. + - put the pen in the pen holder on the white table with the right gripper. + scene_type: + - office + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null + - object_name: pen_holder + level1: office_supplies + level2: pen_holder + level3: null + level4: null + level5: null + - object_name: tablecloth + level1: fabric + level2: tablecloth + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 488 + total_frames: 225692 + total_tasks: 5 + total_videos: 1464 + total_chunks: 1 + chunks_size: 1000 + fps: 50 + splits: + train: 0:487 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_take_out_the_bread.yaml b/dataset_info/Cobot_Magic_take_out_the_bread.yaml new file mode 100644 index 0000000000000000000000000000000000000000..479aef6213f80068abcd22f4c3e0c8cc16447c53 --- /dev/null +++ b/dataset_info/Cobot_Magic_take_out_the_bread.yaml @@ -0,0 +1,846 @@ +dataset_name: take_out_the_bread +dataset_uuid: 2fb93e01-1b87-444e-8fef-493ab51a3c3f +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: bread_machine + level1: kitchenware + level2: bread_machine + level3: null + level4: null + level5: null +- object_name: bread + level1: food + level2: bread + level3: null + level4: null + level5: null +- object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +path: Cobot_Magic_take_out_the_bread +video_url: ./assets/videos/Cobot_Magic_take_out_the_bread.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_take_out_the_bread.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 15.1GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 588 + total_frames: 333147 + total_tasks: 6 + total_videos: 1764 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:587 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'take toasted bread from bread machine on blue coffee table place on plate. + + take toasted bread from bread machine on light coffee tablecloth place on plate. + + take toasted bread from bread machine on green coffee tablecloth place on plate. + + take toasted bread from bread machine on grey coffee table place on plate. + + take toasted bread from bread machine on white checkered table place on plate. + + take toasted bread from bread machine on white table place on plate.' +sub_tasks: +- use the right arm to put a slice of bread into the plate +- use the left arm to put a slice of bread into the empty plate +- use the left arm to take out a slice of bread +- use the right arm to take out a slice of bread +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_front_rgb + name: cam_front_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_front_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_take_out_the_bread_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 146 + dataset_name: take_out_the_bread + dataset_uuid: 2fb93e01-1b87-444e-8fef-493ab51a3c3f + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha15000条/remove_toast_AH202503120004/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_take_out_the_bread + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: take_out_the_bread + dataset_uuid: null + task_descriptions: + - take toasted bread from bread machine on blue coffee table place on plate. + - take toasted bread from bread machine on light coffee tablecloth place on plate. + - take toasted bread from bread machine on green coffee tablecloth place on plate. + - take toasted bread from bread machine on grey coffee table place on plate. + - take toasted bread from bread machine on white table place on plate. + - take toasted bread from bread machine on white checkered table place on plate. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: bread_machine + level1: kitchenware + level2: bread_machine + level3: null + level4: null + level5: null + - object_name: bread + level1: food + level2: bread + level3: null + level4: null + level5: null + - object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 588 + total_frames: 333147 + total_tasks: 6 + total_videos: 1764 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:587 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_take_the_shoes_off_the_shelf.yaml b/dataset_info/Cobot_Magic_take_the_shoes_off_the_shelf.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f6d94b63f515e6b439d8da04372deddc035d8904 --- /dev/null +++ b/dataset_info/Cobot_Magic_take_the_shoes_off_the_shelf.yaml @@ -0,0 +1,827 @@ +dataset_name: take_the_shoes_off_the_shelf +dataset_uuid: ed522b9e-68ff-49a2-b61d-a81ed07e5aa2 +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: shoes + level1: clothing + level2: shoes + level3: null + level4: null + level5: null +- object_name: shoe_rack + level1: furniture + level2: shoe_rack + level3: null + level4: null + level5: null +path: Cobot_Magic_take_the_shoes_off_the_shelf +video_url: ./assets/videos/Cobot_Magic_take_the_shoes_off_the_shelf.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_take_the_shoes_off_the_shelf.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 18.2GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 595 + total_frames: 321834 + total_tasks: 6 + total_videos: 1785 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:594 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'take the shoes off the shelf with your hand from the blue coffee tablecloth. + + take the shoes off the shelf from the light coffee tablecloth by hand. + + take the shoes off the shelf with your hand from the green coffee tablecloth. + + take the shoes off the shelf with your hand from the grey coffee tablecloth. + + take the shoes off the shelf with your hand from the white checkered tablecloth. + + take the shoes off the shelf with your hand on the white table.' +sub_tasks: +- use the right arm to clamp a shoe in the middle of the shoe rack +- use the right arm to take out the clamped shoe from the shoe rack and put it down +- use the left arm to clamp a shoe in the middle of the shoe rack +- use the left arm to clamp a shoe on the left side of the shoe rack +- Use your left arm to remove the clamped shoe from the shoe rack and put it down +- use the right arm to clamp a shoe on the right side of the shoe rack +- use the right arm to clamp a shoe on the left side of the shoe rack +- Hold the shoe in the middle of the shoe rack with your right arm +- use the left arm to clamp a shoe on the right side of the shoe rack +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_front_rgb + name: cam_front_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_front_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_take_the_shoes_off_the_shelf_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 277 + dataset_name: take_the_shoes_off_the_shelf + dataset_uuid: ed522b9e-68ff-49a2-b61d-a81ed07e5aa2 + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha15000条/take_shoes_off_rack-AH202504280002/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_take_the_shoes_off_the_shelf + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: take_the_shoes_off_the_shelf + dataset_uuid: null + task_descriptions: + - take the shoes off the shelf with your hand from the blue tablecloth. + - take the shoes off the shelf from the light coffee tablecloth by hand. + - take the shoes off the shelf with your hand from the green tablecloth. + - take the shoes off the shelf with your hand from the grey tablecloth. + - take the shoes off the shelf with your hand on the white table. + - take the shoes off the shelf with your hand from the white checkered tablecloth. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: shoes + level1: clothing + level2: shoes + level3: null + level4: null + level5: null + - object_name: shoe_rack + level1: furniture + level2: shoe_rack + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 595 + total_frames: 321834 + total_tasks: 6 + total_videos: 1785 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:594 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_the_box_stores_table_tennis_balls.yaml b/dataset_info/Cobot_Magic_the_box_stores_table_tennis_balls.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e23672908a3bb0b11daf853ffcd5c74f3359fa09 --- /dev/null +++ b/dataset_info/Cobot_Magic_the_box_stores_table_tennis_balls.yaml @@ -0,0 +1,832 @@ +dataset_name: the_box_stores_table_tennis_balls +dataset_uuid: 4af013a1-8691-4531-a11d-4a02b8ba9fdf +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +- object_name: table_tennis + level1: toy + level2: table_tennis + level3: null + level4: null + level5: null +- object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null +path: Cobot_Magic_the_box_stores_table_tennis_balls +video_url: ./assets/videos/Cobot_Magic_the_box_stores_table_tennis_balls.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_the_box_stores_table_tennis_balls.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 19.9GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 477 + total_frames: 438756 + total_tasks: 5 + total_videos: 1431 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:476 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'put the table tennis balls in the box on the blue coffee tablecloth. + + put the table tennis balls in the box on the green coffee tablecloth. + + put the table tennis balls into the box on the light coffee tablecloth. + + put the table tennis balls into the box on the grey coffee tablecloth. + + put the table tennis balls into the box on the white checkered tablecloth.' +sub_tasks: +- use the right arm to clamp the table tennis ball closest to it +- use the right arm to put the table tennis ball into the box +- use the left arm to clamp the table tennis ball closest to it +- use the left arm to put the table tennis ball into the box +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_front_rgb + name: cam_front_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_front_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_the_box_stores_table_tennis_balls_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 279 + dataset_name: the_box_stores_table_tennis_balls + dataset_uuid: 4af013a1-8691-4531-a11d-4a02b8ba9fdf + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha15000条/storing_table_tennis_balls-AH202504280003/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_the_box_stores_table_tennis_balls + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: the_box_stores_table_tennis_balls + dataset_uuid: null + task_descriptions: + - put the table tennis balls in the box on the blue tablecloth. + - put the table tennis balls in the box on the green tablecloth. + - put the table tennis balls into the box on the light coffee tablecloth. + - put the table tennis balls into the box on the grey tablecloth. + - put the table tennis balls into the box on the white table. + - put the table tennis balls into the box on the white checkered tablecloth. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: table_tennis + level1: toy + level2: table_tennis + level3: null + level4: null + level5: null + - object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 477 + total_frames: 438756 + total_tasks: 5 + total_videos: 1431 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:476 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_the_plate_holds_the_fruit.yaml b/dataset_info/Cobot_Magic_the_plate_holds_the_fruit.yaml new file mode 100644 index 0000000000000000000000000000000000000000..73aef15872a8313941c1ea4fb808dbe5abd561bb --- /dev/null +++ b/dataset_info/Cobot_Magic_the_plate_holds_the_fruit.yaml @@ -0,0 +1,867 @@ +dataset_name: the_plate_holds_the_fruit +dataset_uuid: 052c69fa-debe-4d27-9d6d-ae6afff264c2 +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: fruit + level1: food + level2: fruit + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null +path: Cobot_Magic_the_plate_holds_the_fruit +video_url: ./assets/videos/Cobot_Magic_the_plate_holds_the_fruit.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_the_plate_holds_the_fruit.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 8.3GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 525 + total_frames: 190455 + total_tasks: 6 + total_videos: 1575 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:524 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'take the fruit out of the cloth bag on the blue coffee tablecloth and place + them on the plate. + + take the fruit out of the bag on the brown coffee tablecloth and place them on the + plate. + + take the fruit out of the bag on the green coffee tablecloth and place them on the + plate. + + take the fruit out of the bag on the grey coffee tablecloth and place them on the + plate. + + take the fruit out of the cloth bag on the white table and place them on a plate. + + take the fruit out of the bag on the white checkered tablecloth and place them on + the plate.' +sub_tasks: +- use the left arm to grab a banana from the bag +- use the right arm to grab a kiwi from the bag +- use the right arm to put the kiwi into the empty plate on the left +- use the left arm to grab a pear from the bag +- use the right arm to put the apple into the empty plate on the left +- use the left arm to put the kiwi into the empty plate on the right +- use the left arm to grab a kiwi from the bag +- use the right arm to put the peach into the empty plate on the left +- use the left arm to put the mango into the empty plate on the right +- use the right arm to put the pomegranate into the empty plate on the left +- use the left arm to grab an apple from the bag +- use the left arm to put the peach into the empty plate on the right +- use the right arm to grab a pomegranate from the bag +- use the left arm to grab a mango from the bag +- use the right arm to put the mango into the empty plate on the left +- use the right arm to grab a mango from the bag +- use the right arm to grab a banana from the bag +- use the right arm to grab a peach from the bag +- use the right arm to grab an apple from the bag +- use the left arm to put the banana into the empty plate on the right +- use the left arm to grab a peach from the bag +- use the left arm to put the pomegranate into the empty plate on the right +- use the left arm to put the lemon into the empty plate on the right +- use the right arm to put the pear into the empty plate on the left +- use the right arm to put the lemon into the empty plate on the left +- use the right arm to put the banana into the empty plate on the right +- use the left arm to grab a lemon from the bag +- use the right arm to grab a pear from the bag +- use the left arm to put the apple into the empty plate on the right +- use the right arm to grab a lemon from the bag +- use the left arm to put the pear into the empty plate on the right +- use the left arm to grab a pomegranate from the bag +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_front_rgb + name: cam_front_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_front_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_the_plate_holds_the_fruit_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 274 + dataset_name: the_plate_holds_the_fruit + dataset_uuid: 052c69fa-debe-4d27-9d6d-ae6afff264c2 + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha15000条/take_out_fruits-AH202503190004/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_the_plate_holds_the_fruit + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: the_plate_holds_the_fruit + dataset_uuid: null + task_descriptions: + - take fruit from cloth bag on blue tablecloth place on plate. + - take fruit from bag on brown tablecloth place on plate. + - take fruit from bag on green tablecloth place on plate. + - take fruit from bag on grey tablecloth place on plate. + - take fruit from cloth bag on white table place on plate. + - take fruit from bag on white checkered tablecloth place on plate. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: fruit + level1: food + level2: fruit + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 525 + total_frames: 190455 + total_tasks: 6 + total_videos: 1575 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:524 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_the_plate_holds_the_vegetables.yaml b/dataset_info/Cobot_Magic_the_plate_holds_the_vegetables.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0a43577fa129a62eeef6f0a8d20de075400ff91a --- /dev/null +++ b/dataset_info/Cobot_Magic_the_plate_holds_the_vegetables.yaml @@ -0,0 +1,860 @@ +dataset_name: the_plate_holds_the_vegetables +dataset_uuid: 3ce5fdfc-c006-40f2-95d9-16a38b9e6337 +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: vegetables + level1: food + level2: vegetables + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null +path: Cobot_Magic_the_plate_holds_the_vegetables +video_url: ./assets/videos/Cobot_Magic_the_plate_holds_the_vegetables.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_the_plate_holds_the_vegetables.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 8.5GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 505 + total_frames: 179090 + total_tasks: 6 + total_videos: 1515 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:504 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'take vegetables from cloth bag on blue coffee tablecloth place on plate. + + take vegetables from bag on green coffee tablecloth place on plate. + + take vegetables from bag on grey coffee tablecloth place on plate. + + take vegetables from bag on pink coffee tablecloth place on plate. + + take vegetables from cloth bag on white table place on plate. + + take vegetables from bag on white checkered tablecloth place on plate.' +sub_tasks: +- Place the pumpkin on the plate with right gripper +- Place the radish on the plate with right gripper +- Place the potato on the plate with left gripper +- Place the bell pepper on the plate with right gripper +- Place the eggplant on the plate with right gripper +- Place the eggplant on the plate with left gripper +- Grasp the bell pepper with left gripper +- End +- Grasp the bell pepper with right gripper +- Place the bell pepper on the plate with left gripper +- Grasp the bitter melon with left gripper +- Grasp the eggplant with right gripper +- Grasp the potato with left gripper +- Abnormal +- Place the radish on the plate with left gripper +- Grasp the bitter melon with right gripper +- Grasp the eggplant with left gripper +- Place the pumpkin on the plate with left gripper +- Place the carrot on the plate with right gripper +- Place the carrot on the plate with left gripper +- Grasp the carrot with left gripper +- Grasp the radish with left gripper +- Place the bitter melon on the plate with left gripper +- Grasp the pumpkin with left gripper +- Grasp the radish with right gripper +- Grasp the carrot with right gripper +- Grasp the potato with right gripper +- Place the potato on the plate with right gripper +- Grasp the pumpkin with right gripper +- Place the bitter melon on the plate with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_front_rgb + name: cam_front_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_front_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_the_plate_holds_the_vegetables_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 275 + dataset_name: the_plate_holds_the_vegetables + dataset_uuid: 3ce5fdfc-c006-40f2-95d9-16a38b9e6337 + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha15000条/take_out_vegetables-AH202503190003/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_the_plate_holds_the_vegetables + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: the_plate_holds_the_vegetables + dataset_uuid: null + task_descriptions: + - take vegetables from cloth bag on blue tablecloth place on plate. + - take vegetables from bag on green tablecloth place on plate. + - take vegetables from bag on grey tablecloth place on plate. + - take vegetables from bag on pink tablecloth place on plate. + - take vegetables from cloth bag on white table place on plate. + - take vegetables from bag on white checkered tablecloth place on plate. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: vegetables + level1: food + level2: vegetables + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 505 + total_frames: 179090 + total_tasks: 6 + total_videos: 1515 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:504 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_turn_off_the_desk_lamp.yaml b/dataset_info/Cobot_Magic_turn_off_the_desk_lamp.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5a22f7b46ddfbeb99d7d183ff0d9790aed325ff2 --- /dev/null +++ b/dataset_info/Cobot_Magic_turn_off_the_desk_lamp.yaml @@ -0,0 +1,816 @@ +dataset_name: turn_off_the_desk_lamp +dataset_uuid: 1f49016c-b7ec-43a1-aa91-d6f484617a5f +scene_type: +- home +atomic_actions: +- pressbutton +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: desk_lamp + level1: daily_necessities + level2: desk_lamp + level3: null + level4: null + level5: null +- object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null +path: Cobot_Magic_turn_off_the_desk_lamp +video_url: ./assets/videos/Cobot_Magic_turn_off_the_desk_lamp.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_turn_off_the_desk_lamp.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 8.4GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 398 + total_frames: 121821 + total_tasks: 6 + total_videos: 1194 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:397 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'turn off the desk lamp on the blue coffee tablecloth by hand. + + turn off the desk lamp on the light coffee tablecloth by hand. + + turn off the desk lamp on the green coffee tablecloth by hand. + + turn off the desk lamp on the grey coffee tablecloth by hand. + + turn off the table lamp on the pink coffee tablecloth by hand. + + turn off the desk lamp on the white desktop by hand.' +sub_tasks: +- use the left arm to press the button switch on the lamp holder +- use the right arm to press the button switch on the lamp holder +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_front_rgb + name: cam_front_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_front_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_turn_off_the_desk_lamp_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 276 + dataset_name: turn_off_the_desk_lamp + dataset_uuid: 1f49016c-b7ec-43a1-aa91-d6f484617a5f + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha15000条/turn_off_lamp-AH202503190008/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_turn_off_the_desk_lamp + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: turn_off_the_desk_lamp + dataset_uuid: null + task_descriptions: + - turn off the desk lamp on the blue coffee tablecloth by hand. + - turn off the desk lamp on the light coffee tablecloth by hand. + - turn off the desk lamp on the green coffee tablecloth by hand. + - turn off the desk lamp on the grey coffee tablecloth by hand. + - turn off the table lamp on the pink coffee tablecloth by hand. + - turn off the desk lamp on the white desktop by hand. + scene_type: + - home + atomic_actions: + - pressbutton + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: desk_lamp + level1: daily_necessities + level2: desk_lamp + level3: null + level4: null + level5: null + - object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - agilex_cobot_magic_aloha + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 398 + total_frames: 121821 + total_tasks: 6 + total_videos: 1194 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:397 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_turn_on_the_bulb.yaml b/dataset_info/Cobot_Magic_turn_on_the_bulb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..36cba33eea6002c8e509dfe05a44e0dfc2f1ceff --- /dev/null +++ b/dataset_info/Cobot_Magic_turn_on_the_bulb.yaml @@ -0,0 +1,789 @@ +dataset_name: turn_on_the_bulb +dataset_uuid: 7bd56e56-b106-4062-8952-e5bffc346b4c +scene_type: +- home +atomic_actions: +- press +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: bulb + level1: tool + level2: bulb + level3: null + level4: null + level5: null +path: Cobot_Magic_turn_on_the_bulb +video_url: ./assets/videos/Cobot_Magic_turn_on_the_bulb.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_turn_on_the_bulb.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 52.8MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 11 + total_frames: 2216 + total_tasks: 1 + total_videos: 33 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +splits: + train: 0:10 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: press the switch on the desk to turn on the bulb. +sub_tasks: +- End +- Turn on the switch +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 50 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_turn_on_the_bulb_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 301 + dataset_name: turn_on_the_bulb + dataset_uuid: 7bd56e56-b106-4062-8952-e5bffc346b4c + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha新17000条/RoboBrain_Robotic_AGX/videos/train/turn_on_the_bulb/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_turn_on_the_bulb + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: turn_on_the_bulb + dataset_uuid: null + task_descriptions: + - press the switch on the desk to turn on the bulb. + scene_type: + - home + atomic_actions: + - press + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: bulb + level1: tool + level2: bulb + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 11 + total_frames: 2216 + total_tasks: 1 + total_videos: 33 + total_chunks: 1 + chunks_size: 1000 + fps: 50 + splits: + train: 0:10 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_turn_on_the_desk_lamp.yaml b/dataset_info/Cobot_Magic_turn_on_the_desk_lamp.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ac9fd288d19dd012eaac5bb2eb521b6a464d401f --- /dev/null +++ b/dataset_info/Cobot_Magic_turn_on_the_desk_lamp.yaml @@ -0,0 +1,816 @@ +dataset_name: turn_on_the_desk_lamp +dataset_uuid: 03edee3f-f1b6-4836-b23f-afb7c2210471 +scene_type: +- home +atomic_actions: +- pressbutton +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: desk_lamp + level1: daily_necessities + level2: desk_lamp + level3: null + level4: null + level5: null +- object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null +path: Cobot_Magic_turn_on_the_desk_lamp +video_url: ./assets/videos/Cobot_Magic_turn_on_the_desk_lamp.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_turn_on_the_desk_lamp.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 8.2GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 449 + total_frames: 146182 + total_tasks: 6 + total_videos: 1347 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:448 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'turn on the table lamp on the blue coffee tablecloth with your hand. + + turn on the table lamp on the light coffee tablecloth with your hand. + + turn on the table lamp on the green coffee tablecloth with your hand. + + turn on the desk lamp on the grey coffee tablecloth with your hand. + + turn on the table lamp on the pink coffee tablecloth with your hand. + + turn on the desk lamp on the white desktop with your hand.' +sub_tasks: +- use the left arm to press the button switch on the lamp holder +- use the right arm to press the button switch on the lamp holder +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_front_rgb + name: cam_front_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_front_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_turn_on_the_desk_lamp_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 278 + dataset_name: turn_on_the_desk_lamp + dataset_uuid: 03edee3f-f1b6-4836-b23f-afb7c2210471 + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha15000条/turn_on_lamp-AH202503190007/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_turn_on_the_desk_lamp + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: turn_on_the_desk_lamp + dataset_uuid: null + task_descriptions: + - turn on the table lamp on the blue tablecloth with your hand. + - turn on the table lamp on the light coffee tablecloth with your hand. + - turn on the table lamp on the green tablecloth with your hand. + - turn on the desk lamp on the grey tablecloth with your hand. + - turn on the table lamp on the pink tablecloth with your hand. + - turn on the desk lamp on the white desktop with your hand. + scene_type: + - home + atomic_actions: + - pressbutton + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: desk_lamp + level1: daily_necessities + level2: desk_lamp + level3: null + level4: null + level5: null + - object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 449 + total_frames: 146182 + total_tasks: 6 + total_videos: 1347 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:448 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_twist_bottle_cap.yaml b/dataset_info/Cobot_Magic_twist_bottle_cap.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2281f1f6dac817291ff76fb158af3ef9e356cd2a --- /dev/null +++ b/dataset_info/Cobot_Magic_twist_bottle_cap.yaml @@ -0,0 +1,1000 @@ +dataset_name: twist_bottle_cap +dataset_uuid: c084dcfc-e7a8-4e35-a194-0325296dcd6e +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +- twist +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: bottle + level1: container + level2: bottle + level3: null + level4: null + level5: null +- object_name: master_kong_oolong_tea + level1: drink + level2: master_kong_oolong_tea + level3: null + level4: null + level5: null +- object_name: green_tea + level1: drink + level2: green_tea + level3: null + level4: null + level5: null +- object_name: meinianda + level1: drink + level2: meinianda + level3: null + level4: null + level5: null +- object_name: yili_changqing + level1: drink + level2: yili_changqing + level3: null + level4: null + level5: null +- object_name: cestbon + level1: drink + level2: cestbon + level3: null + level4: null + level5: null +path: Cobot_Magic_twist_bottle_cap +video_url: ./assets/videos/Cobot_Magic_twist_bottle_cap.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_twist_bottle_cap.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 8.7GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 863 + total_frames: 749388 + total_tasks: 9 + total_videos: 2589 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:862 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'tighten the cap of the cestbon bottle. + + tighten the cap of the green tea bottle. + + loosen the cap of the cestbon bottle. + + tighten the cap of the master kong oolong tea bottle. + + loosen the cap of the green tea bottle. + + tighten the cap of the meinianda bottle. + + loosen the bottle cap of master kang oolong tea. + + tighten the cap of the yili changqing bottle. + + loosen the cap of the meinianda bottle.' +sub_tasks: +- Place the Yili Changqing with the left hand +- Lift the Peach Oolong Tea with the left hand +- Place the bottle cap on the table with the right hand +- Move the Peach Oolong Tea from right to left +- Move from left to right +- Move the Peach Oolong Tea from left to right +- Secure the C'estbon with the left hand +- Move the Mirinda to the right with the left hand +- Place the bottle on the table with the left gripper +- Grasp the bottle and move it to the center of the table with the left gripper +- Move the Mirinda from left to right +- Move the Mirinda from top to bottom +- Discard +- Place the bottle cap on the table +- End +- Place the C'estbon with the left hand +- Move the Mirinda from right to left +- Move the green tea to the right with the left hand +- Lift the bottle and move it to the center of the table with the left gripper +- Grab the green tea with the left hand +- Secure the Peach Oolong Tea with the left hand +- Place the Mirinda with the left hand +- Fix the Yili Changqing on the left +- Secure the green tea with the left hand +- Secure the Yili Changqing with the left hand +- Move the Yili Changqing from left to right +- Abnormal +- Place the bottle cap on the right +- Place the green tea with the left hand +- Move the Yili Changqing to the right with the left hand +- Lift the green tea with the left hand +- Grab the C'estbon with the left hand +- Move from right to left +- Unscrew the bottle cap with the right gripper while holding the bottle with the + left gripper +- Secure the Mirinda with the left hand +- Grab the Yili Changqing with the left hand +- Lift the Yili Changqing with the left hand +- Move the C'estbon to the right with the left hand +- Place the Peach Oolong Tea with the left hand +- Move the Yili Changqing from right to left +- Fix the Mirinda on the left +- Move the Yili Changqing from bottom to top +- Grab the Peach Oolong Tea with the left hand +- Move the Peach Oolong Tea to the right with the left hand +- Move the Yili Changqing from top to bottom +- Grab the Mirinda with the left hand +- Twist the bottle cap with the right hand +- Lift the Mirinda with the left hand +- Place the bottle cap on the table with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_twist_bottle_cap_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 205 + dataset_name: twist_bottle_cap + dataset_uuid: c084dcfc-e7a8-4e35-a194-0325296dcd6e + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/twist_bottle_cap/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_twist_bottle_cap + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: twist_bottle_cap + dataset_uuid: null + task_descriptions: + - tighten the cap on the water bottle. + - loosen the cap of the mineral water bottle. + - tighten the cap of the green tea bottle. + - loosen the cap of the green tea bottle. + - tighten the cap of the master kong oolong tea bottle. + - loosen the bottle cap of master kang oolong tea. + - tighten the cap of the meinianda bottle. + - loosen the cap of the meinianda bottle. + - tighten the cap of the yili changqing bottle. + - loosen the cap of the yili changqing bottle. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + - twist + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: bottle + level1: container + level2: bottle + level3: null + level4: null + level5: null + - object_name: master_kong_oolong_tea + level1: drink + level2: master_kong_oolong_tea + level3: null + level4: null + level5: null + - object_name: green_tea + level1: drink + level2: green_tea + level3: null + level4: null + level5: null + - object_name: meinianda + level1: drink + level2: meinianda + level3: null + level4: null + level5: null + - object_name: yili_changqing + level1: drink + level2: yili_changqing + level3: null + level4: null + level5: null + - object_name: cestbon + level1: drink + level2: cestbon + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 863 + total_frames: 749388 + total_tasks: 9 + total_videos: 2589 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:862 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_vase_storage_flower.yaml b/dataset_info/Cobot_Magic_vase_storage_flower.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1b178f96dce2596595adf7625e1d8d9c6225112e --- /dev/null +++ b/dataset_info/Cobot_Magic_vase_storage_flower.yaml @@ -0,0 +1,851 @@ +dataset_name: vase_storage_flower +dataset_uuid: ba4d8977-ef3d-433d-97f5-974b820832e8 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: flowers + level1: botany + level2: flowers + level3: null + level4: null + level5: null +- object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null +- object_name: vase + level1: container + level2: vase + level3: null + level4: null + level5: null +path: Cobot_Magic_vase_storage_flower +video_url: ./assets/videos/Cobot_Magic_vase_storage_flower.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_vase_storage_flower.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 12.8GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 455 + total_frames: 239272 + total_tasks: 6 + total_videos: 1365 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:454 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'insert the flowers into the vase on the table with the blue tablecloth. + + insert the flowers into the vase on the table with the green tablecloth. + + insert the flowers into the vase on the table with the grey tablecloth. + + insert the flowers into the vase on the table with the pink tablecloth. + + insert the flowers into the vase on the white table. + + insert the flowers into the vase on the table with the white tablecloth.' +sub_tasks: +- Place the pink flower in the vase with right gripper +- Grasp the dumpling with right gripper +- Grasp the white flower with right gripper +- Put the flowers in the vase with both hands +- Grasp the dumpling with left gripper +- use the right arm to insert the flowers into the vase +- Abnormal +- use the right arm to grab a bunch of fresh flowers +- End +- Place the white flower in the vase with right gripper +- Place the dumpling on the steamer with left gripper +- Place the pink flower in the vase with left gripper +- Grasp the blue flower with right gripper +- Place the blue flower in the vase with right gripper +- Place the dumpling on the steamer with right gripper +- use the left arm to insert the flowers into the vase +- use the left arm to grab a bunch of fresh flowers +- Place the blue flower in the vase with left gripper +- Grasp the pink flower with left gripper +- Grasp the pink flower with right gripper +- Grasp the blue flower with left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_front_rgb + name: cam_front_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_front_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_vase_storage_flower_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 267 + dataset_name: vase_storage_flower + dataset_uuid: ba4d8977-ef3d-433d-97f5-974b820832e8 + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/aloha15000条/flower_arrangement-AH202503190005/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_vase_storage_flower + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: vase_storage_flower + dataset_uuid: null + task_descriptions: + - insert the flowers into the vase on the table with the blue tablecloth. + - insert the flowers into the vase on the table with the green tablecloth. + - insert the flowers into the vase on the table with the grey tablecloth. + - insert the flowers into the vase on the table with the pink tablecloth. + - insert the flowers into the vase on the white table. + - insert the flowers into the vase on the table with the white tablecloth. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: flowers + level1: botany + level2: flowers + level3: null + level4: null + level5: null + - object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null + - object_name: vase + level1: container + level2: vase + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_magic_aloha + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 455 + total_frames: 239272 + total_tasks: 6 + total_videos: 1365 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:454 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Cobot_Magic_water_bottle_storage.yaml b/dataset_info/Cobot_Magic_water_bottle_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1acad0d4f516851a784a9df2ea3099f27d13d8ba --- /dev/null +++ b/dataset_info/Cobot_Magic_water_bottle_storage.yaml @@ -0,0 +1,887 @@ +dataset_name: water_bottle_storage +dataset_uuid: d77bcbca-f9c3-445e-b349-2c6e1470f4b0 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +- open +- close +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: drawer + level1: furniture + level2: drawer + level3: null + level4: null + level5: null +- object_name: water_bottle + level1: container + level2: water_bottle + level3: null + level4: null + level5: null +path: Cobot_Magic_water_bottle_storage +video_url: ./assets/videos/Cobot_Magic_water_bottle_storage.mp4 +thumbnail_url: ./assets/thumbnails/Cobot_Magic_water_bottle_storage.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 1.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 100 + total_frames: 56495 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:99 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: place the water bottle into the drawer. +sub_tasks: +- End +- Place the water bottle inside the drawer. +- Close the drawer. +- Place the water bottle in the top drawer with the left gripper +- Close the top drawer with the right gripper +- Open the top drawer with the right gripper +- Open the drawer. +- Pick up the water bottle with the left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Cobot_Magic_water_bottle_storage_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 234 + dataset_name: water_bottle_storage + dataset_uuid: d77bcbca-f9c3-445e-b349-2c6e1470f4b0 + device_model: Agilex_Split_Aloha + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/7agilex_cobot_magic_aloha/aloha_weizhishuju/水瓶收纳/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Cobot_Magic_water_bottle_storage + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: 100 + yaml: + dataset_name: water_bottle_storage + dataset_uuid: null + task_descriptions: + - place the water bottle into the drawer. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + - open + - close + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: drawer + level1: furniture + level2: drawer + level3: null + level4: null + level5: null + - object_name: water_bottle + level1: container + level2: water_bottle + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 100 + total_frames: 56495 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:99 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_basket_storage_apple.yaml b/dataset_info/G1edu-u3_basket_storage_apple.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c713b0c07f7b30687858e200c2244992eda22373 --- /dev/null +++ b/dataset_info/G1edu-u3_basket_storage_apple.yaml @@ -0,0 +1,848 @@ +dataset_name: basket_storage_apple +dataset_uuid: ad45e74b-fccc-4f12-9f34-a2312636f61c +scene_type: +- home +- kitchen +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- three_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: basket + level1: home_storage + level2: basket + level3: null + level4: null + level5: null +- object_name: apple + level1: fruit + level2: apple + level3: null + level4: null + level5: null +path: G1edu-u3_basket_storage_apple +video_url: ./assets/videos/G1edu-u3_basket_storage_apple.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_basket_storage_apple.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 1.5GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: unitree_g1 +codebase_version: v2.1 +statistics: + total_episodes: 88 + total_frames: 45574 + total_tasks: 1 + total_videos: 264 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:87 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.color_left_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.color_right_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: pick up the apple from the table and place it into the basket. +sub_tasks: +- Grasp the apple with the left gripper +- Place the apple into the basket with the left gripper +- End +- Static +- Move the basket to the front of the table with the right gripper +- Grasp the basket with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.color_left_wrist + name: color_left_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.color_right_wrist + name: color_right_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.color_left_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.color_right_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_basket_storage_apple_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.color_left_wrist/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.color_right_wrist/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 5 + dataset_name: basket_storage_apple + dataset_uuid: ad45e74b-fccc-4f12-9f34-a2312636f61c + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/4unitree_g1/basket_storage_apple/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_basket_storage_apple + scene_types: + - home + - kitchen + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: basket + level1: home_storage + level2: basket + level3: null + level4: null + level5: null + - object_name: apple + level1: fruit + level2: apple + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: basket_storage_apple + dataset_uuid: null + task_descriptions: + - pick up the apple from the table and place it into the basket. + scene_type: + - home + - kitchen + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: apple + level1: fruit + level2: apple + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - unitree_g1 + end_effector_type: five_finger_hand + meta: + robot_type: unitree_g1 + codebase_version: v2.1 + statistics: + total_episodes: 88 + total_frames: 45574 + total_tasks: 1 + total_videos: 264 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:87 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.color_left_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.color_right_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_basket_storage_apple_b.yaml b/dataset_info/G1edu-u3_basket_storage_apple_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6717504624a0b4c89e3c8ce7f4dc8bae95a48015 --- /dev/null +++ b/dataset_info/G1edu-u3_basket_storage_apple_b.yaml @@ -0,0 +1,808 @@ +dataset_name: basket_storage_apple_b +dataset_uuid: 8c0ab1ee-eb0f-48a0-a7be-ff698d2f4651 +scene_type: +- home +atomic_actions: +- pick +- place +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: basket + level1: home_storage + level2: basket + level3: null + level4: null + level5: null +- object_name: apple + level1: fruit + level2: apple + level3: null + level4: null + level5: null +path: G1edu-u3_basket_storage_apple_b +video_url: ./assets/videos/G1edu-u3_basket_storage_apple_b.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_basket_storage_apple_b.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 2.3GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Unitree_G1_Dex3_phecda +codebase_version: v2.1 +statistics: + total_episodes: 241 + total_frames: 118352 + total_tasks: 1 + total_videos: 723 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:240 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + observation.images.cam_left_high: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Pick up the grapes and put them on the plate. +sub_tasks: +- End +- Place the grapes in the plate with left hand +- Grasp the grapes with left hand +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_left_high + name: cam_left_high + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist + name: cam_left_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist + name: cam_right_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_left_high + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + - key: observation.images.cam_left_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + - key: observation.images.cam_right_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_basket_storage_apple_b_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 604 + dataset_name: basket_storage_apple_b + dataset_uuid: 8c0ab1ee-eb0f-48a0-a7be-ff698d2f4651 + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1106/dataset_name + basket_storage_apple_b/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_basket_storage_apple_b + scene_types: + - home + atomic_actions: + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: basket + level1: home_storage + level2: basket + level3: null + level4: null + level5: null + - object_name: apple + level1: fruit + level2: apple + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: Unitree_G1_Dex3_phecda + codebase_version: v2.1 + statistics: + total_episodes: 241 + total_frames: 118352 + total_tasks: 1 + total_videos: 723 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:240 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + observation.images.cam_left_high: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_bowl_storage_grape_singletry.yaml b/dataset_info/G1edu-u3_bowl_storage_grape_singletry.yaml new file mode 100644 index 0000000000000000000000000000000000000000..59842cca56e378e825953681a7d198b1fcdd9e88 --- /dev/null +++ b/dataset_info/G1edu-u3_bowl_storage_grape_singletry.yaml @@ -0,0 +1,814 @@ +dataset_name: bowl_storage_grape_singletry +dataset_uuid: 40947b8c-339b-414f-94d9-6d5f24520362 +scene_type: +- home +- kitchen +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- three_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: bread + level1: food + level2: bread + level3: null + level4: null + level5: null +- object_name: bowl + level1: bowl + level2: bowl + level3: null + level4: null + level5: null +path: G1edu-u3_bowl_storage_grape_singletry +video_url: ./assets/videos/G1edu-u3_bowl_storage_grape_singletry.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_bowl_storage_grape_singletry.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 2.4GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Unitree_G1_Dex3_phecda +codebase_version: v2.1 +statistics: + total_episodes: 242 + total_frames: 119619 + total_tasks: 1 + total_videos: 726 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:241 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + observation.images.cam_left_high: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Pick up the red cup on the table. +sub_tasks: +- Grasp the grapes with left hand +- Grasp the bread with the left gripper +- Static +- End +- Place the bread the bowl with the left gripper +- Place the grapes in the plate with left hand +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_left_high + name: cam_left_high + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist + name: cam_left_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist + name: cam_right_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_left_high + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + - key: observation.images.cam_left_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + - key: observation.images.cam_right_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_bowl_storage_grape_singletry_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 11 + dataset_name: bowl_storage_grape_singletry + dataset_uuid: 40947b8c-339b-414f-94d9-6d5f24520362 + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/蚂蚁外来数据/bowl_storage_grape_singletry/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_bowl_storage_grape_singletry + scene_types: + - home + - kitchen + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: bread + level1: food + level2: bread + level3: null + level4: null + level5: null + - object_name: bowl + level1: bowl + level2: bowl + level3: null + level4: null + level5: null + total_episodes: null + yaml: {} + meta: + robot_type: Unitree_G1_Dex3_phecda + codebase_version: v2.1 + statistics: + total_episodes: 242 + total_frames: 119619 + total_tasks: 1 + total_videos: 726 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:241 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + observation.images.cam_left_high: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_food_storage.yaml b/dataset_info/G1edu-u3_food_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8f28a5d343bd1d48180a79a3696195e8b0794989 --- /dev/null +++ b/dataset_info/G1edu-u3_food_storage.yaml @@ -0,0 +1,905 @@ +dataset_name: food_storage +dataset_uuid: 4f2a72fa-3388-401a-ab17-b437417cce23 +scene_type: +- home +- kitchen +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- three_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: basket + level1: home_storage + level2: basket + level3: null + level4: null + level5: null +- object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null +- object_name: bowl + level1: bowl + level2: bowl + level3: null + level4: null + level5: null +- object_name: donut + level1: food + level2: donut + level3: null + level4: null + level5: null +- object_name: cake + level1: bread + level2: cake + level3: null + level4: null + level5: null +path: G1edu-u3_food_storage +video_url: ./assets/videos/G1edu-u3_food_storage.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_food_storage.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 13.6GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: unitree_g1 +codebase_version: v2.1 +statistics: + total_episodes: 190 + total_frames: 316377 + total_tasks: 1 + total_videos: 570 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:189 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.color_left_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.color_right_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: pick up the donut from the bowl and place it in the plate, pick up the cake + from the bowl and place it in the basket. +sub_tasks: +- Grasp the bowl with the left gripper +- Pour the cake into the basket with the left gripper +- End +- Place the bowl in the center of the table with the left gripper +- Pick up the bread with the right gripper and place it on the plate +- Place the bowl on the table with the left gripper +- Push the bowl to the center of the table using the left gripper +- Abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.color_left_wrist + name: color_left_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.color_right_wrist + name: color_right_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.color_left_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.color_right_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_food_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.color_left_wrist/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.color_right_wrist/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 12 + dataset_name: food_storage + dataset_uuid: 4f2a72fa-3388-401a-ab17-b437417cce23 + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/4unitree_g1/food_storage/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_food_storage + scene_types: + - home + - kitchen + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: basket + level1: home_storage + level2: basket + level3: null + level4: null + level5: null + - object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null + - object_name: bowl + level1: bowl + level2: bowl + level3: null + level4: null + level5: null + - object_name: donut + level1: food + level2: donut + level3: null + level4: null + level5: null + - object_name: cake + level1: bread + level2: cake + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: food_storage + dataset_uuid: null + task_descriptions: + - pick up the donut from the bowl and place it in the plate, pick up the cake + from the bowl and place it in the basket. + scene_type: + - home + - kitchen + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + - object_name: donut + level1: food + level2: donut + level3: null + level4: null + level5: null + - object_name: cake + level1: food + level2: cake + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - unitree_g1 + end_effector_type: five_finger_hand + meta: + robot_type: unitree_g1 + codebase_version: v2.1 + statistics: + total_episodes: 190 + total_frames: 316377 + total_tasks: 1 + total_videos: 570 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:189 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.color_left_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.color_right_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_little_tray_storage_apple_b.yaml b/dataset_info/G1edu-u3_little_tray_storage_apple_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bda15873b17d0a2fac8a75f1cdbef0841052cdca --- /dev/null +++ b/dataset_info/G1edu-u3_little_tray_storage_apple_b.yaml @@ -0,0 +1,708 @@ +dataset_name: little_tray_storage_apple_b +dataset_uuid: eddea5f5-2b14-472e-a8a5-7cdb15b1e6b5 +scene_type: +- home +atomic_actions: +- pick +- place +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: tray + level1: container + level2: tray + level3: null + level4: null + level5: null +- object_name: apple + level1: fruit + level2: apple + level3: null + level4: null + level5: null +path: G1edu-u3_little_tray_storage_apple_b +video_url: ./assets/videos/G1edu-u3_little_tray_storage_apple_b.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_little_tray_storage_apple_b.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 51.2MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 15 + total_frames: 3928 + total_tasks: 1 + total_videos: 15 + total_chunks: 1 + chunks_size: 15 + fps: 30 +splits: + train: 0:14 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the red apple + + Pick up the red apple + + Pick up the water bottle + + Pick up the water bottle + + Pick up the white cup + + Pick up the lemon + + Place the red apple + + Place the red apple in the basket + + Place the red apple on the blue rectangle plate + + Place the red apple on the orange round plate + + Place the water bottle + + Place the water bottle + + Place the white cup + + Place the lemon on the blue rectangle plate + + Place the lemon on the orange round plate' +sub_tasks: +- Place the apple on the orange plate with right gripper +- End +- Place the apple on the orange plate with left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_little_tray_storage_apple_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 603 + dataset_name: little_tray_storage_apple_b + dataset_uuid: eddea5f5-2b14-472e-a8a5-7cdb15b1e6b5 + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1106/little_tray_storage_apple_b/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_little_tray_storage_apple_b + scene_types: + - home + atomic_actions: + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: tray + level1: container + level2: tray + level3: null + level4: null + level5: null + - object_name: apple + level1: fruit + level2: apple + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 15 + total_frames: 3928 + total_tasks: 1 + total_videos: 15 + total_chunks: 1 + chunks_size: 15 + fps: 30 + splits: + train: 0:14 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_little_tray_storage_lemon_b.yaml b/dataset_info/G1edu-u3_little_tray_storage_lemon_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..40933bd2c0306681969d813286c1d924a740faa9 --- /dev/null +++ b/dataset_info/G1edu-u3_little_tray_storage_lemon_b.yaml @@ -0,0 +1,708 @@ +dataset_name: little_tray_storage_lemon_b +dataset_uuid: 7150e18c-8f80-44c3-934f-40eac73ed334 +scene_type: +- home +atomic_actions: +- pick +- place +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: tray + level1: container + level2: tray + level3: null + level4: null + level5: null +- object_name: lemon + level1: fruits + level2: lemon + level3: null + level4: null + level5: null +path: G1edu-u3_little_tray_storage_lemon_b +video_url: ./assets/videos/G1edu-u3_little_tray_storage_lemon_b.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_little_tray_storage_lemon_b.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 39.3MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 14 + total_frames: 3028 + total_tasks: 1 + total_videos: 14 + total_chunks: 1 + chunks_size: 14 + fps: 30 +splits: + train: 0:13 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the red apple + + Pick up the red apple + + Pick up the water bottle + + Pick up the water bottle + + Pick up the white cup + + Pick up the lemon + + Place the red apple + + Place the red apple in the basket + + Place the red apple on the blue rectangle plate + + Place the red apple on the orange round plate + + Place the water bottle + + Place the water bottle + + Place the white cup + + Place the lemon on the blue rectangle plate + + Place the lemon on the orange round plate' +sub_tasks: +- Place the lemon on the orange plate with right gripper +- End +- Place the lemon on the orange plate with left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_little_tray_storage_lemon_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 607 + dataset_name: little_tray_storage_lemon_b + dataset_uuid: 7150e18c-8f80-44c3-934f-40eac73ed334 + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1106/little_tray_storage_lemon_b/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_little_tray_storage_lemon_b + scene_types: + - home + atomic_actions: + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: tray + level1: container + level2: tray + level3: null + level4: null + level5: null + - object_name: lemon + level1: fruits + level2: lemon + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 14 + total_frames: 3028 + total_tasks: 1 + total_videos: 14 + total_chunks: 1 + chunks_size: 14 + fps: 30 + splits: + train: 0:13 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_pick_apple_a.yaml b/dataset_info/G1edu-u3_pick_apple_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ab64067f5a2bfe018c5d5196964432855b619c21 --- /dev/null +++ b/dataset_info/G1edu-u3_pick_apple_a.yaml @@ -0,0 +1,710 @@ +dataset_name: pick_apple_a +dataset_uuid: 6afbbc46-1a5f-434d-bfe5-7a7ae32db479 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: apple + level1: fruit + level2: apple + level3: null + level4: null + level5: null +- object_name: board + level1: material + level2: board + level3: null + level4: null + level5: null +path: G1edu-u3_pick_apple_a +video_url: ./assets/videos/G1edu-u3_pick_apple_a.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_apple_a.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 208.4MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 40 + total_frames: 15439 + total_tasks: 1 + total_videos: 40 + total_chunks: 1 + chunks_size: 40 + fps: 30 +splits: + train: 0:39 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the red apple + + Pick up the red apple + + Pick up the water bottle + + Pick up the water bottle + + Pick up the white cup + + Pick up the lemon + + Place the red apple + + Place the red apple in the basket + + Place the red apple on the blue rectangle plate + + Place the red apple on the orange round plate + + Place the water bottle + + Place the water bottle + + Place the white cup + + Place the lemon on the blue rectangle plate + + Place the lemon on the orange round plate' +sub_tasks: +- End +- Grasp the apple and lift it to the center of the view with right gripper +- Grasp the apple and lift it to the center of the view with left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_pick_apple_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 615 + dataset_name: pick_apple_a + dataset_uuid: 6afbbc46-1a5f-434d-bfe5-7a7ae32db479 + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1106/pick_apple_a/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_apple_a + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: apple + level1: fruit + level2: apple + level3: null + level4: null + level5: null + - object_name: board + level1: material + level2: board + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 40 + total_frames: 15439 + total_tasks: 1 + total_videos: 40 + total_chunks: 1 + chunks_size: 40 + fps: 30 + splits: + train: 0:39 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_pick_apple_b.yaml b/dataset_info/G1edu-u3_pick_apple_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c91ec4a365fc5d04b4eb4cdfcc17c540ddf69cd4 --- /dev/null +++ b/dataset_info/G1edu-u3_pick_apple_b.yaml @@ -0,0 +1,696 @@ +dataset_name: pick_apple_b +dataset_uuid: 5cb12579-7559-4cdb-b6c3-8ffb1f039b19 +scene_type: +- home +atomic_actions: +- grasp +- pick +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: apple + level1: fruit + level2: apple + level3: null + level4: null + level5: null +path: G1edu-u3_pick_apple_b +video_url: ./assets/videos/G1edu-u3_pick_apple_b.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_apple_b.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 102.4MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 26 + total_frames: 8289 + total_tasks: 1 + total_videos: 26 + total_chunks: 1 + chunks_size: 26 + fps: 30 +splits: + train: 0:25 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the red apple + + Pick up the red apple + + Pick up the water bottle + + Pick up the water bottle + + Pick up the white cup + + Pick up the lemon + + Place the red apple + + Place the red apple in the basket + + Place the red apple on the blue rectangle plate + + Place the red apple on the orange round plate + + Place the water bottle + + Place the water bottle + + Place the white cup + + Place the lemon on the blue rectangle plate + + Place the lemon on the orange round plate' +sub_tasks: +- End +- Grasp the apple and lift it to the center of the view with right gripper +- Grasp the apple and lift it to the center of the view with left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_pick_apple_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 596 + dataset_name: pick_apple_b + dataset_uuid: 5cb12579-7559-4cdb-b6c3-8ffb1f039b19 + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1106/pick_apple_b/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_apple_b + scene_types: + - home + atomic_actions: + - grasp + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: apple + level1: fruit + level2: apple + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 26 + total_frames: 8289 + total_tasks: 1 + total_videos: 26 + total_chunks: 1 + chunks_size: 26 + fps: 30 + splits: + train: 0:25 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_pick_crumpled_paper_aa.yaml b/dataset_info/G1edu-u3_pick_crumpled_paper_aa.yaml new file mode 100644 index 0000000000000000000000000000000000000000..83572f130dc1ead335531d6e1ccaa61587814b41 --- /dev/null +++ b/dataset_info/G1edu-u3_pick_crumpled_paper_aa.yaml @@ -0,0 +1,690 @@ +dataset_name: pick_crumpled_paper_aa +dataset_uuid: b6576ff7-68ba-498d-a50c-c97bad67554e +scene_type: +- home +atomic_actions: +- grasp +- pick +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: paper + level1: rubbish + level2: paper + level3: null + level4: null + level5: null +path: G1edu-u3_pick_crumpled_paper_aa +video_url: ./assets/videos/G1edu-u3_pick_crumpled_paper_aa.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_crumpled_paper_aa.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 58.9MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 13 + total_frames: 4485 + total_tasks: 1 + total_videos: 13 + total_chunks: 1 + chunks_size: 13 + fps: 30 +splits: + train: 0:12 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the crumpled paper + + Pick up the empty bottle + + Pick up the leftover food + + Pick up the metal bowl + + Pick up the metal bowl + + Pick up the plastic bowl + + Pick up the plastic bowl + + Place the metal bowl + + Place the metal bowl + + Place the plastic bowl + + Place the plastic bowl' +sub_tasks: +- End +- "Grasp the paper ball and lift it to the center of the view with right gripper \uFEFF\ + \ \uFEFF" +- "Grasp the paper ball and lift it to the center of the view with left gripper \uFEFF" +- Abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_pick_crumpled_paper_aa_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 605 + dataset_name: pick_crumpled_paper_aa + dataset_uuid: b6576ff7-68ba-498d-a50c-c97bad67554e + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1107/pick_crumpled_paper_aa/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_crumpled_paper_aa + scene_types: + - home + atomic_actions: + - grasp + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: paper + level1: rubbish + level2: paper + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 13 + total_frames: 4485 + total_tasks: 1 + total_videos: 13 + total_chunks: 1 + chunks_size: 13 + fps: 30 + splits: + train: 0:12 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_pick_cup_a.yaml b/dataset_info/G1edu-u3_pick_cup_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..74d9c1812cb8beb7d175eaa8394d9160ed1ef1b2 --- /dev/null +++ b/dataset_info/G1edu-u3_pick_cup_a.yaml @@ -0,0 +1,696 @@ +dataset_name: pick_cup_a +dataset_uuid: 6c4e6e81-bded-43dc-a803-02147d6eb107 +scene_type: +- home +atomic_actions: +- grasp +- pick +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: cup + level1: kitchen_supplies + level2: cup + level3: null + level4: null + level5: null +path: G1edu-u3_pick_cup_a +video_url: ./assets/videos/G1edu-u3_pick_cup_a.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_cup_a.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 88.4MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 24 + total_frames: 8046 + total_tasks: 1 + total_videos: 24 + total_chunks: 1 + chunks_size: 24 + fps: 30 +splits: + train: 0:23 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the red apple + + Pick up the red apple + + Pick up the water bottle + + Pick up the water bottle + + Pick up the white cup + + Pick up the lemon + + Place the red apple + + Place the red apple in the basket + + Place the red apple on the blue rectangle plate + + Place the red apple on the orange round plate + + Place the water bottle + + Place the water bottle + + Place the white cup + + Place the lemon on the blue rectangle plate + + Place the lemon on the orange round plate' +sub_tasks: +- End +- Grasp the paper cup and lift it to the center of the view with right gripper +- Grasp the paper cup and lift it to the center of the view with left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_pick_cup_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 598 + dataset_name: pick_cup_a + dataset_uuid: 6c4e6e81-bded-43dc-a803-02147d6eb107 + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1106/pick_cup_a/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_cup_a + scene_types: + - home + atomic_actions: + - grasp + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cup + level1: kitchen_supplies + level2: cup + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 24 + total_frames: 8046 + total_tasks: 1 + total_videos: 24 + total_chunks: 1 + chunks_size: 24 + fps: 30 + splits: + train: 0:23 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_pick_empty_bottle_ab.yaml b/dataset_info/G1edu-u3_pick_empty_bottle_ab.yaml new file mode 100644 index 0000000000000000000000000000000000000000..161bcd12bd483c9450e11cba15c77d1d2e3a9cc0 --- /dev/null +++ b/dataset_info/G1edu-u3_pick_empty_bottle_ab.yaml @@ -0,0 +1,691 @@ +dataset_name: pick_empty_bottle_ab +dataset_uuid: e8eb32c9-9e05-4189-9718-badce6a3ac0b +scene_type: +- home +atomic_actions: +- grasp +- pick +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: empty_bottle + level1: mineral_water + level2: empty_bottle + level3: null + level4: null + level5: null +path: G1edu-u3_pick_empty_bottle_ab +video_url: ./assets/videos/G1edu-u3_pick_empty_bottle_ab.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_empty_bottle_ab.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 45.4MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 11 + total_frames: 3290 + total_tasks: 1 + total_videos: 11 + total_chunks: 1 + chunks_size: 11 + fps: 30 +splits: + train: 0:10 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the crumpled paper + + Pick up the empty bottle + + Pick up the leftover food + + Pick up the metal bowl + + Pick up the metal bowl + + Pick up the plastic bowl + + Pick up the plastic bowl + + Place the metal bowl + + Place the metal bowl + + Place the plastic bowl + + Place the plastic bowl' +sub_tasks: +- End +- "Grasp the cola bottle and lift it to the center of the view with right gripper\ + \ \uFEFF" +- "Grasp the cola bottle and lift it to the center of the view with left gripper \uFEFF\ + \ \uFEFF" +- Abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_pick_empty_bottle_ab_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 606 + dataset_name: pick_empty_bottle_ab + dataset_uuid: e8eb32c9-9e05-4189-9718-badce6a3ac0b + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1107/pick_empty_bottle_ab/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_empty_bottle_ab + scene_types: + - home + atomic_actions: + - grasp + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: empty_bottle + level1: mineral_water + level2: empty_bottle + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 11 + total_frames: 3290 + total_tasks: 1 + total_videos: 11 + total_chunks: 1 + chunks_size: 11 + fps: 30 + splits: + train: 0:10 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_pick_leftover_food_ac.yaml b/dataset_info/G1edu-u3_pick_leftover_food_ac.yaml new file mode 100644 index 0000000000000000000000000000000000000000..135c72a44c866aad0dc05c5de8ab70fbfddf20f7 --- /dev/null +++ b/dataset_info/G1edu-u3_pick_leftover_food_ac.yaml @@ -0,0 +1,691 @@ +dataset_name: pick_leftover_food_ac +dataset_uuid: 31bb63f2-f1c2-48b4-bc7f-98e365933e8f +scene_type: +- home +atomic_actions: +- grasp +- pick +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: leftover_food + level1: trash + level2: leftover_food + level3: null + level4: null + level5: null +path: G1edu-u3_pick_leftover_food_ac +video_url: ./assets/videos/G1edu-u3_pick_leftover_food_ac.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_leftover_food_ac.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 63.0MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 14 + total_frames: 4666 + total_tasks: 1 + total_videos: 14 + total_chunks: 1 + chunks_size: 14 + fps: 30 +splits: + train: 0:13 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the crumpled paper + + Pick up the empty bottle + + Pick up the leftover food + + Pick up the metal bowl + + Pick up the metal bowl + + Pick up the plastic bowl + + Pick up the plastic bowl + + Place the metal bowl + + Place the metal bowl + + Place the plastic bowl + + Place the plastic bowl' +sub_tasks: +- End +- Abnormal +- "Grasp the bagged food and lift it to the center of the view with left gripper\ + \ \uFEFF" +- "Grasp the bagged food and lift it to the center of the view with right gripper\ + \ \uFEFF" +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_pick_leftover_food_ac_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 608 + dataset_name: pick_leftover_food_ac + dataset_uuid: 31bb63f2-f1c2-48b4-bc7f-98e365933e8f + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1107/pick_leftover_food_ac/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_leftover_food_ac + scene_types: + - home + atomic_actions: + - grasp + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: leftover_food + level1: trash + level2: leftover_food + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 14 + total_frames: 4666 + total_tasks: 1 + total_videos: 14 + total_chunks: 1 + chunks_size: 14 + fps: 30 + splits: + train: 0:13 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_pick_metal_bowl_aa.yaml b/dataset_info/G1edu-u3_pick_metal_bowl_aa.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9b7456d28e9aaea244162f18eabb92c0c938654e --- /dev/null +++ b/dataset_info/G1edu-u3_pick_metal_bowl_aa.yaml @@ -0,0 +1,689 @@ +dataset_name: pick_metal_bowl_aa +dataset_uuid: e1af01c7-7aea-4e21-a205-cadda0c4620b +scene_type: +- home +atomic_actions: +- grasp +- pick +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: metal_bowl + level1: bowl + level2: metal_bowl + level3: null + level4: null + level5: null +path: G1edu-u3_pick_metal_bowl_aa +video_url: ./assets/videos/G1edu-u3_pick_metal_bowl_aa.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_metal_bowl_aa.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 221.0MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 35 + total_frames: 15548 + total_tasks: 1 + total_videos: 35 + total_chunks: 1 + chunks_size: 35 + fps: 30 +splits: + train: 0:34 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the crumpled paper + + Pick up the empty bottle + + Pick up the leftover food + + Pick up the metal bowl + + Pick up the metal bowl + + Pick up the plastic bowl + + Pick up the plastic bowl + + Place the metal bowl + + Place the metal bowl + + Place the plastic bowl + + Place the plastic bowl' +sub_tasks: +- Grasp the metal bowl and lift it to the center of the view with left gripper +- End +- Grasp the metal bowl and lift it to the center of the view with right gripper +- Abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_pick_metal_bowl_aa_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 610 + dataset_name: pick_metal_bowl_aa + dataset_uuid: e1af01c7-7aea-4e21-a205-cadda0c4620b + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1107/pick_metal_bowl_aa/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_metal_bowl_aa + scene_types: + - home + atomic_actions: + - grasp + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: metal_bowl + level1: bowl + level2: metal_bowl + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 35 + total_frames: 15548 + total_tasks: 1 + total_videos: 35 + total_chunks: 1 + chunks_size: 35 + fps: 30 + splits: + train: 0:34 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_pick_metal_bowl_ab.yaml b/dataset_info/G1edu-u3_pick_metal_bowl_ab.yaml new file mode 100644 index 0000000000000000000000000000000000000000..45bc43fc3512f2e48466a65559314c1a4524fefa --- /dev/null +++ b/dataset_info/G1edu-u3_pick_metal_bowl_ab.yaml @@ -0,0 +1,688 @@ +dataset_name: pick_metal_bowl_ab +dataset_uuid: 988d81c9-a23a-4a67-9613-aed7fcecf7e3 +scene_type: +- home +atomic_actions: +- grasp +- pick +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: metal_bowl + level1: bowl + level2: metal_bowl + level3: null + level4: null + level5: null +path: G1edu-u3_pick_metal_bowl_ab +video_url: ./assets/videos/G1edu-u3_pick_metal_bowl_ab.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_metal_bowl_ab.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 158.4MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 36 + total_frames: 11322 + total_tasks: 1 + total_videos: 36 + total_chunks: 1 + chunks_size: 37 + fps: 30 +splits: + train: 0:35 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the crumpled paper + + Pick up the empty bottle + + Pick up the leftover food + + Pick up the metal bowl + + Pick up the metal bowl + + Pick up the plastic bowl + + Pick up the plastic bowl + + Place the metal bowl + + Place the metal bowl + + Place the plastic bowl + + Place the plastic bowl' +sub_tasks: +- Grasp the metal bowl and lift it to the center of the view with left gripper +- End +- Grasp the metal bowl and lift it to the center of the view with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_pick_metal_bowl_ab_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 618 + dataset_name: pick_metal_bowl_ab + dataset_uuid: 988d81c9-a23a-4a67-9613-aed7fcecf7e3 + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1107/pick_metal_bowl_ab/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_metal_bowl_ab + scene_types: + - home + atomic_actions: + - grasp + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: metal_bowl + level1: bowl + level2: metal_bowl + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 36 + total_frames: 11322 + total_tasks: 1 + total_videos: 36 + total_chunks: 1 + chunks_size: 37 + fps: 30 + splits: + train: 0:35 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_pick_plastic_bowl_ac.yaml b/dataset_info/G1edu-u3_pick_plastic_bowl_ac.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ae630c2ff836b50a511c5e9899e733a2f512995e --- /dev/null +++ b/dataset_info/G1edu-u3_pick_plastic_bowl_ac.yaml @@ -0,0 +1,688 @@ +dataset_name: pick_plastic_bowl_ac +dataset_uuid: 8b3bc197-5de6-4704-a513-0c7fbf7f29ed +scene_type: +- home +atomic_actions: +- grasp +- pick +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: plastic_bowl + level1: container + level2: plastic_bowl + level3: null + level4: null + level5: null +path: G1edu-u3_pick_plastic_bowl_ac +video_url: ./assets/videos/G1edu-u3_pick_plastic_bowl_ac.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_plastic_bowl_ac.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 175.8MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 32 + total_frames: 12573 + total_tasks: 1 + total_videos: 32 + total_chunks: 1 + chunks_size: 32 + fps: 30 +splits: + train: 0:31 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the crumpled paper + + Pick up the empty bottle + + Pick up the leftover food + + Pick up the metal bowl + + Pick up the metal bowl + + Pick up the plastic bowl + + Pick up the plastic bowl + + Place the metal bowl + + Place the metal bowl + + Place the plastic bowl + + Place the plastic bowl' +sub_tasks: +- Grasp the plastic bowl and lift it to the center of the view with left gripper +- End +- Grasp the plastic bowl and lift it to the center of the view with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_pick_plastic_bowl_ac_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 619 + dataset_name: pick_plastic_bowl_ac + dataset_uuid: 8b3bc197-5de6-4704-a513-0c7fbf7f29ed + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1107/pick_plastic_bowl_ac/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_plastic_bowl_ac + scene_types: + - home + atomic_actions: + - grasp + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: plastic_bowl + level1: container + level2: plastic_bowl + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 32 + total_frames: 12573 + total_tasks: 1 + total_videos: 32 + total_chunks: 1 + chunks_size: 32 + fps: 30 + splits: + train: 0:31 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_pick_plastic_bowl_ad.yaml b/dataset_info/G1edu-u3_pick_plastic_bowl_ad.yaml new file mode 100644 index 0000000000000000000000000000000000000000..236e38da17ec24747b242804f3cd7f0afc899a24 --- /dev/null +++ b/dataset_info/G1edu-u3_pick_plastic_bowl_ad.yaml @@ -0,0 +1,688 @@ +dataset_name: pick_plastic_bowl_ad +dataset_uuid: 2efbcfc7-6d0c-4d2f-873c-534fe35c6c26 +scene_type: +- home +atomic_actions: +- grasp +- pick +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: plastic_bowl + level1: container + level2: plastic_bowl + level3: null + level4: null + level5: null +path: G1edu-u3_pick_plastic_bowl_ad +video_url: ./assets/videos/G1edu-u3_pick_plastic_bowl_ad.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_plastic_bowl_ad.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 144.0MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 32 + total_frames: 10038 + total_tasks: 1 + total_videos: 32 + total_chunks: 1 + chunks_size: 33 + fps: 30 +splits: + train: 0:31 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the crumpled paper + + Pick up the empty bottle + + Pick up the leftover food + + Pick up the metal bowl + + Pick up the metal bowl + + Pick up the plastic bowl + + Pick up the plastic bowl + + Place the metal bowl + + Place the metal bowl + + Place the plastic bowl + + Place the plastic bowl' +sub_tasks: +- Grasp the plastic bowl and lift it to the center of the view with left gripper +- End +- Grasp the plastic bowl and lift it to the center of the view with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_pick_plastic_bowl_ad_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 612 + dataset_name: pick_plastic_bowl_ad + dataset_uuid: 2efbcfc7-6d0c-4d2f-873c-534fe35c6c26 + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1107/pick_plastic_bowl_ad/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_plastic_bowl_ad + scene_types: + - home + atomic_actions: + - grasp + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: plastic_bowl + level1: container + level2: plastic_bowl + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 32 + total_frames: 10038 + total_tasks: 1 + total_videos: 32 + total_chunks: 1 + chunks_size: 33 + fps: 30 + splits: + train: 0:31 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_pick_up_the_bottled_water_a.yaml b/dataset_info/G1edu-u3_pick_up_the_bottled_water_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0422e48a680a887bed94588bdd3f80dd67ca432b --- /dev/null +++ b/dataset_info/G1edu-u3_pick_up_the_bottled_water_a.yaml @@ -0,0 +1,709 @@ +dataset_name: pick_up_the_bottled_water_a +dataset_uuid: e56a77d6-dbe5-4d31-a397-61ccb616903c +scene_type: +- home +atomic_actions: +- grasp +- pick +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: bottle + level1: container + level2: bottle + level3: null + level4: null + level5: null +- object_name: water + level1: beverages + level2: water + level3: null + level4: null + level5: null +path: G1edu-u3_pick_up_the_bottled_water_a +video_url: ./assets/videos/G1edu-u3_pick_up_the_bottled_water_a.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_up_the_bottled_water_a.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 153.0MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 29 + total_frames: 12057 + total_tasks: 1 + total_videos: 29 + total_chunks: 1 + chunks_size: 29 + fps: 30 +splits: + train: 0:28 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the red apple + + Pick up the red apple + + Pick up the water bottle + + Pick up the water bottle + + Pick up the white cup + + Pick up the lemon + + Place the red apple + + Place the red apple in the basket + + Place the red apple on the blue rectangle plate + + Place the red apple on the orange round plate + + Place the water bottle + + Place the water bottle + + Place the white cup + + Place the lemon on the blue rectangle plate + + Place the lemon on the orange round plate' +sub_tasks: +- Grasp the water bottle and lift it to the center of the view with right gripper +- Grasp the water bottle and lift it to the center of the view with left gripper +- End +- Abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_pick_up_the_bottled_water_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 620 + dataset_name: pick_up_the_bottled_water_a + dataset_uuid: e56a77d6-dbe5-4d31-a397-61ccb616903c + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1106/pick_up_the_bottled_water_a/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_up_the_bottled_water_a + scene_types: + - home + atomic_actions: + - grasp + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: bottle + level1: container + level2: bottle + level3: null + level4: null + level5: null + - object_name: water + level1: beverages + level2: water + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 29 + total_frames: 12057 + total_tasks: 1 + total_videos: 29 + total_chunks: 1 + chunks_size: 29 + fps: 30 + splits: + train: 0:28 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_pick_up_the_bottled_water_as.yaml b/dataset_info/G1edu-u3_pick_up_the_bottled_water_as.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ba102940aeee839cc9e599a4de8492ac32366b74 --- /dev/null +++ b/dataset_info/G1edu-u3_pick_up_the_bottled_water_as.yaml @@ -0,0 +1,705 @@ +dataset_name: pick_up_the_bottled_water_as +dataset_uuid: a5f8649a-a1ab-415a-9fd4-b48b04fab77e +scene_type: +- home +atomic_actions: +- grasp +- pick +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: bottle + level1: container + level2: bottle + level3: null + level4: null + level5: null +- object_name: water + level1: beverages + level2: water + level3: null + level4: null + level5: null +path: G1edu-u3_pick_up_the_bottled_water_as +video_url: ./assets/videos/G1edu-u3_pick_up_the_bottled_water_as.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_up_the_bottled_water_as.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 116.6MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 24 + total_frames: 9753 + total_tasks: 1 + total_videos: 24 + total_chunks: 1 + chunks_size: 24 + fps: 30 +splits: + train: 0:23 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the water bottle + + Pick up the bread + + Pick up the pink cup + + Pick up the lemmon + + Pick up the tissue box + + Pick up the toy bear + + Place the water bottle + + Place the bread + + Place the pink cup + + Place the lemon + + Place the lemon on the orange round plate + + Place the tissue box + + Place the toy bear' +sub_tasks: +- Grasp the water bottle and lift it to the center of the view with right gripper +- Grasp the water bottle and lift it to the center of the view with left gripper +- End +- Abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_pick_up_the_bottled_water_as_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 589 + dataset_name: pick_up_the_bottled_water_as + dataset_uuid: a5f8649a-a1ab-415a-9fd4-b48b04fab77e + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1105/pick_up_the_bottled_water_as/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_up_the_bottled_water_as + scene_types: + - home + atomic_actions: + - grasp + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: bottle + level1: container + level2: bottle + level3: null + level4: null + level5: null + - object_name: water + level1: beverages + level2: water + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 24 + total_frames: 9753 + total_tasks: 1 + total_videos: 24 + total_chunks: 1 + chunks_size: 24 + fps: 30 + splits: + train: 0:23 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_pick_up_the_bottled_water_b.yaml b/dataset_info/G1edu-u3_pick_up_the_bottled_water_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0ae063aab7c1bf004ef193ec196b7aac7e7de760 --- /dev/null +++ b/dataset_info/G1edu-u3_pick_up_the_bottled_water_b.yaml @@ -0,0 +1,709 @@ +dataset_name: pick_up_the_bottled_water_b +dataset_uuid: fed7136f-3c38-4756-81e4-f9e2dd2eaad5 +scene_type: +- home +atomic_actions: +- grasp +- pick +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: bottle + level1: container + level2: bottle + level3: null + level4: null + level5: null +- object_name: water + level1: beverages + level2: water + level3: null + level4: null + level5: null +path: G1edu-u3_pick_up_the_bottled_water_b +video_url: ./assets/videos/G1edu-u3_pick_up_the_bottled_water_b.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_up_the_bottled_water_b.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 125.2MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 30 + total_frames: 10067 + total_tasks: 1 + total_videos: 30 + total_chunks: 1 + chunks_size: 31 + fps: 30 +splits: + train: 0:29 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the red apple + + Pick up the red apple + + Pick up the water bottle + + Pick up the water bottle + + Pick up the white cup + + Pick up the lemon + + Place the red apple + + Place the red apple in the basket + + Place the red apple on the blue rectangle plate + + Place the red apple on the orange round plate + + Place the water bottle + + Place the water bottle + + Place the white cup + + Place the lemon on the blue rectangle plate + + Place the lemon on the orange round plate' +sub_tasks: +- Grasp the water bottle and lift it to the center of the view with right gripper +- Grasp the water bottle and lift it to the center of the view with left gripper +- End +- Abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_pick_up_the_bottled_water_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 621 + dataset_name: pick_up_the_bottled_water_b + dataset_uuid: fed7136f-3c38-4756-81e4-f9e2dd2eaad5 + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1106/pick_up_the_bottled_water_b/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_up_the_bottled_water_b + scene_types: + - home + atomic_actions: + - grasp + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: bottle + level1: container + level2: bottle + level3: null + level4: null + level5: null + - object_name: water + level1: beverages + level2: water + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 30 + total_frames: 10067 + total_tasks: 1 + total_videos: 30 + total_chunks: 1 + chunks_size: 31 + fps: 30 + splits: + train: 0:29 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_pick_up_the_bread_az.yaml b/dataset_info/G1edu-u3_pick_up_the_bread_az.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f2a45fb426aa4196fb54a38d2ad19b777d85c546 --- /dev/null +++ b/dataset_info/G1edu-u3_pick_up_the_bread_az.yaml @@ -0,0 +1,781 @@ +dataset_name: pick_up_the_bread_az +dataset_uuid: 95b46832-04a8-4073-b033-dbe0d38fe742 +scene_type: +- home +- restaurant +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: basket + level1: home_storage + level2: basket + level3: null + level4: null + level5: null +- object_name: bread + level1: food + level2: bread + level3: null + level4: null + level5: null +- object_name: bowl + level1: bowl + level2: bowl + level3: null + level4: null + level5: null +- object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null +- object_name: grape + level1: fruits + level2: grape + level3: null + level4: null + level5: null +- object_name: orange + level1: fruits + level2: orange + level3: null + level4: null + level5: null +- object_name: pear + level1: fruits + level2: pear + level3: null + level4: null + level5: null +- object_name: apple + level1: fruit + level2: apple + level3: null + level4: null + level5: null +path: G1edu-u3_pick_up_the_bread_az +video_url: ./assets/videos/G1edu-u3_pick_up_the_bread_az.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_up_the_bread_az.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 169.7MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 26 + total_frames: 14542 + total_tasks: 1 + total_videos: 26 + total_chunks: 1 + chunks_size: 27 + fps: 30 +splits: + train: 0:25 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the water bottle + + Pick up the bread + + Pick up the pink cup + + Pick up the lemmon + + Pick up the tissue box + + Pick up the toy bear + + Place the water bottle + + Place the bread + + Place the pink cup + + Place the lemon + + Place the lemon on the orange round plate + + Place the tissue box + + Place the toy bear' +sub_tasks: +- End +- Grasp the long bread and lift it to the center of the view with left gripper +- Grasp the long bread and lift it to the center of the view with right gripper +- Abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_pick_up_the_bread_az_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 586 + dataset_name: pick_up_the_bread_az + dataset_uuid: 95b46832-04a8-4073-b033-dbe0d38fe742 + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1105/pick_up_the_bread_az/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_up_the_bread_az + scene_types: + - home + - restaurant + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: basket + level1: home_storage + level2: basket + level3: null + level4: null + level5: null + - object_name: bread + level1: food + level2: bread + level3: null + level4: null + level5: null + - object_name: bowl + level1: bowl + level2: bowl + level3: null + level4: null + level5: null + - object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null + - object_name: grape + level1: fruits + level2: grape + level3: null + level4: null + level5: null + - object_name: orange + level1: fruits + level2: orange + level3: null + level4: null + level5: null + - object_name: pear + level1: fruits + level2: pear + level3: null + level4: null + level5: null + - object_name: apple + level1: fruit + level2: apple + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 26 + total_frames: 14542 + total_tasks: 1 + total_videos: 26 + total_chunks: 1 + chunks_size: 27 + fps: 30 + splits: + train: 0:25 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_pick_up_the_lemon_a.yaml b/dataset_info/G1edu-u3_pick_up_the_lemon_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..53fd0873265fbe7158e97383fa5aece1dce12a63 --- /dev/null +++ b/dataset_info/G1edu-u3_pick_up_the_lemon_a.yaml @@ -0,0 +1,696 @@ +dataset_name: pick_up_the_lemon_a +dataset_uuid: 4941259a-6f5a-49a6-b04e-e52c4e5759dc +scene_type: +- home +atomic_actions: +- grasp +- pick +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: lemon + level1: fruits + level2: lemon + level3: null + level4: null + level5: null +path: G1edu-u3_pick_up_the_lemon_a +video_url: ./assets/videos/G1edu-u3_pick_up_the_lemon_a.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_up_the_lemon_a.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 107.6MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 23 + total_frames: 8915 + total_tasks: 1 + total_videos: 23 + total_chunks: 1 + chunks_size: 23 + fps: 30 +splits: + train: 0:22 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the red apple + + Pick up the red apple + + Pick up the water bottle + + Pick up the water bottle + + Pick up the white cup + + Pick up the lemon + + Place the red apple + + Place the red apple in the basket + + Place the red apple on the blue rectangle plate + + Place the red apple on the orange round plate + + Place the water bottle + + Place the water bottle + + Place the white cup + + Place the lemon on the blue rectangle plate + + Place the lemon on the orange round plate' +sub_tasks: +- End +- Grasp the lemon and lift it to the center of the view with left gripper +- Grasp the lemon and lift it to the center of the view with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_pick_up_the_lemon_a_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 616 + dataset_name: pick_up_the_lemon_a + dataset_uuid: 4941259a-6f5a-49a6-b04e-e52c4e5759dc + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1106/pick_up_the_lemon_a/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_up_the_lemon_a + scene_types: + - home + atomic_actions: + - grasp + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: lemon + level1: fruits + level2: lemon + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 23 + total_frames: 8915 + total_tasks: 1 + total_videos: 23 + total_chunks: 1 + chunks_size: 23 + fps: 30 + splits: + train: 0:22 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_pick_up_the_lemon_at.yaml b/dataset_info/G1edu-u3_pick_up_the_lemon_at.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8da7c9d0cd3502a2c4b1dbea665e7e568c0f6f6f --- /dev/null +++ b/dataset_info/G1edu-u3_pick_up_the_lemon_at.yaml @@ -0,0 +1,709 @@ +dataset_name: pick_up_the_lemon_at +dataset_uuid: 9965d331-a329-49c0-ae89-355a299338f1 +scene_type: +- home +- restaurant +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: basket + level1: home_storage + level2: basket + level3: null + level4: null + level5: null +- object_name: lemon + level1: fruits + level2: lemon + level3: null + level4: null + level5: null +path: G1edu-u3_pick_up_the_lemon_at +video_url: ./assets/videos/G1edu-u3_pick_up_the_lemon_at.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_up_the_lemon_at.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 84.5MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 26 + total_frames: 8538 + total_tasks: 1 + total_videos: 26 + total_chunks: 1 + chunks_size: 26 + fps: 30 +splits: + train: 0:25 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the water bottle + + Pick up the bread + + Pick up the pink cup + + Pick up the lemon + + Pick up the tissue box + + Pick up the toy bear + + Place the water bottle + + Place the bread + + Place the pink cup + + Place the lemon + + Place the lemon on the orange round plate + + Place the tissue box + + Place the toy bear' +sub_tasks: +- End +- Grasp the lemon and lift it to the center of the view with left gripper +- Abnormal +- Grasp the lemon and lift it to the center of the view with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_pick_up_the_lemon_at_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 585 + dataset_name: pick_up_the_lemon_at + dataset_uuid: 9965d331-a329-49c0-ae89-355a299338f1 + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1105/pick_up_the_lemon_at/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_up_the_lemon_at + scene_types: + - home + - restaurant + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: basket + level1: home_storage + level2: basket + level3: null + level4: null + level5: null + - object_name: lemon + level1: fruits + level2: lemon + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 26 + total_frames: 8538 + total_tasks: 1 + total_videos: 26 + total_chunks: 1 + chunks_size: 26 + fps: 30 + splits: + train: 0:25 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_pick_up_the_tissue_box_ao.yaml b/dataset_info/G1edu-u3_pick_up_the_tissue_box_ao.yaml new file mode 100644 index 0000000000000000000000000000000000000000..effe0614f1552d9ff06928f9f41cc31db096c66a --- /dev/null +++ b/dataset_info/G1edu-u3_pick_up_the_tissue_box_ao.yaml @@ -0,0 +1,703 @@ +dataset_name: pick_up_the_tissue_box_ao +dataset_uuid: 3adf4438-1317-4ffb-9447-b4dd516c8559 +scene_type: +- home +atomic_actions: +- grasp +- pick +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +- object_name: tissue + level1: daily_necessities + level2: tissue + level3: null + level4: null + level5: null +path: G1edu-u3_pick_up_the_tissue_box_ao +video_url: ./assets/videos/G1edu-u3_pick_up_the_tissue_box_ao.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_up_the_tissue_box_ao.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 273.8MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 29 + total_frames: 21166 + total_tasks: 1 + total_videos: 29 + total_chunks: 1 + chunks_size: 29 + fps: 30 +splits: + train: 0:28 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the water bottle + + Pick up the bread + + Pick up the pink cup + + Pick up the lemmon + + Pick up the tissue box + + Pick up the toy bear + + Place the water bottle + + Place the bread + + Place the pink cup + + Place the lemon + + Place the lemon on the orange round plate + + Place the tissue box + + Place the toy bear' +sub_tasks: +- Grasp the tissue box and lift it to the center of the view with both gripper +- End +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_pick_up_the_tissue_box_ao_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 592 + dataset_name: pick_up_the_tissue_box_ao + dataset_uuid: 3adf4438-1317-4ffb-9447-b4dd516c8559 + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1105/pick_up_the_tissue_box_ao/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_up_the_tissue_box_ao + scene_types: + - home + atomic_actions: + - grasp + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + - object_name: tissue + level1: daily_necessities + level2: tissue + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 29 + total_frames: 21166 + total_tasks: 1 + total_videos: 29 + total_chunks: 1 + chunks_size: 29 + fps: 30 + splits: + train: 0:28 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_pick_up_the_toy_ai.yaml b/dataset_info/G1edu-u3_pick_up_the_toy_ai.yaml new file mode 100644 index 0000000000000000000000000000000000000000..322d2210446a22706429b31371347f7adac755b3 --- /dev/null +++ b/dataset_info/G1edu-u3_pick_up_the_toy_ai.yaml @@ -0,0 +1,692 @@ +dataset_name: pick_up_the_toy_ai +dataset_uuid: 804260a5-c07f-432e-9080-8112b837464a +scene_type: +- home +atomic_actions: +- grasp +- pick +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: toy + level1: toy + level2: toy + level3: null + level4: null + level5: null +path: G1edu-u3_pick_up_the_toy_ai +video_url: ./assets/videos/G1edu-u3_pick_up_the_toy_ai.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_pick_up_the_toy_ai.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 44.8MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 10 + total_frames: 3242 + total_tasks: 1 + total_videos: 10 + total_chunks: 1 + chunks_size: 10 + fps: 30 +splits: + train: 0:9 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the water bottle + + Pick up the bread + + Pick up the pink cup + + Pick up the lemmon + + Pick up the tissue box + + Pick up the toy bear + + Place the water bottle + + Place the bread + + Place the pink cup + + Place the lemon + + Place the lemon on the orange round plate + + Place the tissue box + + Place the toy bear' +sub_tasks: +- End +- Grasp the toy bear and lift it to the center of the view with right gripper +- Grasp the toy bear and lift it to the center of the view with left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_pick_up_the_toy_ai_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 588 + dataset_name: pick_up_the_toy_ai + dataset_uuid: 804260a5-c07f-432e-9080-8112b837464a + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1105/pick_up_the_toy_ai/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pick_up_the_toy_ai + scene_types: + - home + atomic_actions: + - grasp + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: toy + level1: toy + level2: toy + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 10 + total_frames: 3242 + total_tasks: 1 + total_videos: 10 + total_chunks: 1 + chunks_size: 10 + fps: 30 + splits: + train: 0:9 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_place_apple_c.yaml b/dataset_info/G1edu-u3_place_apple_c.yaml new file mode 100644 index 0000000000000000000000000000000000000000..36edea54cf87818a70cc2b0ea288879c8e4a311d --- /dev/null +++ b/dataset_info/G1edu-u3_place_apple_c.yaml @@ -0,0 +1,696 @@ +dataset_name: place_apple_c +dataset_uuid: fadd4ee3-65b3-497e-a817-3885814cab0c +scene_type: +- home +atomic_actions: +- pick +- place +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: apple + level1: fruit + level2: apple + level3: null + level4: null + level5: null +path: G1edu-u3_place_apple_c +video_url: ./assets/videos/G1edu-u3_place_apple_c.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_place_apple_c.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 81.6MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 29 + total_frames: 6567 + total_tasks: 1 + total_videos: 29 + total_chunks: 1 + chunks_size: 30 + fps: 30 +splits: + train: 0:28 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the red apple + + Pick up the red apple + + Pick up the water bottle + + Pick up the water bottle + + Pick up the white cup + + Pick up the lemon + + Place the red apple + + Place the red apple in the basket + + Place the red apple on the blue rectangle plate + + Place the red apple on the orange round plate + + Place the water bottle + + Place the water bottle + + Place the white cup + + Place the lemon on the blue rectangle plate + + Place the lemon on the orange round plate' +sub_tasks: +- End +- Place the apple on the table with right gripper +- Place the apple on the table with left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_place_apple_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 600 + dataset_name: place_apple_c + dataset_uuid: fadd4ee3-65b3-497e-a817-3885814cab0c + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1106/place_apple_c/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_place_apple_c + scene_types: + - home + atomic_actions: + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: apple + level1: fruit + level2: apple + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 29 + total_frames: 6567 + total_tasks: 1 + total_videos: 29 + total_chunks: 1 + chunks_size: 30 + fps: 30 + splits: + train: 0:28 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_place_bottle_c.yaml b/dataset_info/G1edu-u3_place_bottle_c.yaml new file mode 100644 index 0000000000000000000000000000000000000000..712f29db9292455da5054d6e4f8bac2b1dc3b609 --- /dev/null +++ b/dataset_info/G1edu-u3_place_bottle_c.yaml @@ -0,0 +1,696 @@ +dataset_name: place_bottle_c +dataset_uuid: 5e6d1031-7c1e-4cd5-a371-1682b697fabd +scene_type: +- home +atomic_actions: +- grasp +- place +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: bottle + level1: container + level2: bottle + level3: null + level4: null + level5: null +path: G1edu-u3_place_bottle_c +video_url: ./assets/videos/G1edu-u3_place_bottle_c.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_place_bottle_c.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 92.3MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 29 + total_frames: 7277 + total_tasks: 1 + total_videos: 29 + total_chunks: 1 + chunks_size: 30 + fps: 30 +splits: + train: 0:28 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the red apple + + Pick up the red apple + + Pick up the water bottle + + Pick up the water bottle + + Pick up the white cup + + Pick up the lemon + + Place the red apple + + Place the red apple in the basket + + Place the red apple on the blue rectangle plate + + Place the red apple on the orange round plate + + Place the water bottle + + Place the water bottle + + Place the white cup + + Place the lemon on the blue rectangle plate + + Place the lemon on the orange round plate' +sub_tasks: +- End +- Place the water bottle on the table with left gripper +- Place the water bottle on the table with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_place_bottle_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 601 + dataset_name: place_bottle_c + dataset_uuid: 5e6d1031-7c1e-4cd5-a371-1682b697fabd + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1106/place_bottle_c/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_place_bottle_c + scene_types: + - home + atomic_actions: + - grasp + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: bottle + level1: container + level2: bottle + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 29 + total_frames: 7277 + total_tasks: 1 + total_videos: 29 + total_chunks: 1 + chunks_size: 30 + fps: 30 + splits: + train: 0:28 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_place_metal_bowl_ae.yaml b/dataset_info/G1edu-u3_place_metal_bowl_ae.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1f39de5742d947c5854c5e601e6804018e7cea25 --- /dev/null +++ b/dataset_info/G1edu-u3_place_metal_bowl_ae.yaml @@ -0,0 +1,688 @@ +dataset_name: place_metal_bowl_ae +dataset_uuid: 58ed5982-2a5f-4762-a995-5d590a2beeb4 +scene_type: +- home +atomic_actions: +- pick +- place +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: metal_bowl + level1: bowl + level2: metal_bowl + level3: null + level4: null + level5: null +path: G1edu-u3_place_metal_bowl_ae +video_url: ./assets/videos/G1edu-u3_place_metal_bowl_ae.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_place_metal_bowl_ae.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 120.4MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 38 + total_frames: 7884 + total_tasks: 1 + total_videos: 38 + total_chunks: 1 + chunks_size: 39 + fps: 30 +splits: + train: 0:37 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the crumpled paper + + Pick up the empty bottle + + Pick up the leftover food + + Pick up the metal bowl + + Pick up the metal bowl + + Pick up the plastic bowl + + Pick up the plastic bowl + + Place the metal bowl + + Place the metal bowl + + Place the plastic bowl + + Place the plastic bowl' +sub_tasks: +- Place the metal bowl on the table with left gripper +- End +- Place the metal bowl on the table with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_place_metal_bowl_ae_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 613 + dataset_name: place_metal_bowl_ae + dataset_uuid: 58ed5982-2a5f-4762-a995-5d590a2beeb4 + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1107/place_metal_bowl_ae/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_place_metal_bowl_ae + scene_types: + - home + atomic_actions: + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: metal_bowl + level1: bowl + level2: metal_bowl + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 38 + total_frames: 7884 + total_tasks: 1 + total_videos: 38 + total_chunks: 1 + chunks_size: 39 + fps: 30 + splits: + train: 0:37 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_place_metal_bowl_af.yaml b/dataset_info/G1edu-u3_place_metal_bowl_af.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7a962d0fd3c35bfae943e1ac10ab624d6acff13b --- /dev/null +++ b/dataset_info/G1edu-u3_place_metal_bowl_af.yaml @@ -0,0 +1,688 @@ +dataset_name: place_metal_bowl_af +dataset_uuid: 7335e7b9-55d2-417a-ba15-8aeba616ce6e +scene_type: +- home +atomic_actions: +- pick +- place +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: metal_bowl + level1: bowl + level2: metal_bowl + level3: null + level4: null + level5: null +path: G1edu-u3_place_metal_bowl_af +video_url: ./assets/videos/G1edu-u3_place_metal_bowl_af.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_place_metal_bowl_af.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 95.9MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 38 + total_frames: 6265 + total_tasks: 1 + total_videos: 38 + total_chunks: 1 + chunks_size: 39 + fps: 30 +splits: + train: 0:37 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the crumpled paper + + Pick up the empty bottle + + Pick up the leftover food + + Pick up the metal bowl + + Pick up the metal bowl + + Pick up the plastic bowl + + Pick up the plastic bowl + + Place the metal bowl + + Place the metal bowl + + Place the plastic bowl + + Place the plastic bowl' +sub_tasks: +- Place the metal bowl on the table with left gripper +- End +- Place the metal bowl on the table with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_place_metal_bowl_af_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 622 + dataset_name: place_metal_bowl_af + dataset_uuid: 7335e7b9-55d2-417a-ba15-8aeba616ce6e + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1107/place_metal_bowl_af/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_place_metal_bowl_af + scene_types: + - home + atomic_actions: + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: metal_bowl + level1: bowl + level2: metal_bowl + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 38 + total_frames: 6265 + total_tasks: 1 + total_videos: 38 + total_chunks: 1 + chunks_size: 39 + fps: 30 + splits: + train: 0:37 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_place_plastic_bowl_ag.yaml b/dataset_info/G1edu-u3_place_plastic_bowl_ag.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c65cc78f24c02cca66f811e4cbb3f8daa712107a --- /dev/null +++ b/dataset_info/G1edu-u3_place_plastic_bowl_ag.yaml @@ -0,0 +1,688 @@ +dataset_name: place_plastic_bowl_ag +dataset_uuid: 200d19c3-55a3-44fd-830a-10c1b2f63ed7 +scene_type: +- home +atomic_actions: +- pick +- place +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: plastic_bowl + level1: container + level2: plastic_bowl + level3: null + level4: null + level5: null +path: G1edu-u3_place_plastic_bowl_ag +video_url: ./assets/videos/G1edu-u3_place_plastic_bowl_ag.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_place_plastic_bowl_ag.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 116.0MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 38 + total_frames: 7219 + total_tasks: 1 + total_videos: 38 + total_chunks: 1 + chunks_size: 39 + fps: 30 +splits: + train: 0:37 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the crumpled paper + + Pick up the empty bottle + + Pick up the leftover food + + Pick up the metal bowl + + Pick up the metal bowl + + Pick up the plastic bowl + + Pick up the plastic bowl + + Place the metal bowl + + Place the metal bowl + + Place the plastic bowl + + Place the plastic bowl' +sub_tasks: +- Place the plastic bowl on the table with right gripper +- End +- Place the plastic bowl on the table with left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_place_plastic_bowl_ag_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 623 + dataset_name: place_plastic_bowl_ag + dataset_uuid: 200d19c3-55a3-44fd-830a-10c1b2f63ed7 + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1107/place_plastic_bowl_ag/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_place_plastic_bowl_ag + scene_types: + - home + atomic_actions: + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: plastic_bowl + level1: container + level2: plastic_bowl + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 38 + total_frames: 7219 + total_tasks: 1 + total_videos: 38 + total_chunks: 1 + chunks_size: 39 + fps: 30 + splits: + train: 0:37 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_place_plastic_bowl_ah.yaml b/dataset_info/G1edu-u3_place_plastic_bowl_ah.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dc11e6679b2d763182a180c3ee504648a1cc37a9 --- /dev/null +++ b/dataset_info/G1edu-u3_place_plastic_bowl_ah.yaml @@ -0,0 +1,688 @@ +dataset_name: place_plastic_bowl_ah +dataset_uuid: 7153928d-6c50-4662-91a7-9d48d64e1e5d +scene_type: +- home +atomic_actions: +- pick +- place +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: plastic_bowl + level1: container + level2: plastic_bowl + level3: null + level4: null + level5: null +path: G1edu-u3_place_plastic_bowl_ah +video_url: ./assets/videos/G1edu-u3_place_plastic_bowl_ah.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_place_plastic_bowl_ah.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 83.7MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 33 + total_frames: 5638 + total_tasks: 1 + total_videos: 33 + total_chunks: 1 + chunks_size: 34 + fps: 30 +splits: + train: 0:32 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the crumpled paper + + Pick up the empty bottle + + Pick up the leftover food + + Pick up the metal bowl + + Pick up the metal bowl + + Pick up the plastic bowl + + Pick up the plastic bowl + + Place the metal bowl + + Place the metal bowl + + Place the plastic bowl + + Place the plastic bowl' +sub_tasks: +- Place the plastic bowl on the table with right gripper +- End +- Place the plastic bowl on the table with left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_place_plastic_bowl_ah_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 614 + dataset_name: place_plastic_bowl_ah + dataset_uuid: 7153928d-6c50-4662-91a7-9d48d64e1e5d + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1107/place_plastic_bowl_ah/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_place_plastic_bowl_ah + scene_types: + - home + atomic_actions: + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: plastic_bowl + level1: container + level2: plastic_bowl + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 33 + total_frames: 5638 + total_tasks: 1 + total_videos: 33 + total_chunks: 1 + chunks_size: 34 + fps: 30 + splits: + train: 0:32 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_plate_storage_doll.yaml b/dataset_info/G1edu-u3_plate_storage_doll.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b70df7ab455badedc7dc52d3b85c4dac9ee5fe18 --- /dev/null +++ b/dataset_info/G1edu-u3_plate_storage_doll.yaml @@ -0,0 +1,850 @@ +dataset_name: plate_storage_doll +dataset_uuid: 45f1baec-34a9-4f8d-bc50-3ef2086cf1a9 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- three_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null +- object_name: doll + level1: toys + level2: doll + level3: null + level4: null + level5: null +path: G1edu-u3_plate_storage_doll +video_url: ./assets/videos/G1edu-u3_plate_storage_doll.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_plate_storage_doll.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 3.7GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: unitree_g1 +codebase_version: v2.1 +statistics: + total_episodes: 388 + total_frames: 133026 + total_tasks: 2 + total_videos: 1164 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:387 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.color_left_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.color_right_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the doll on one side of the plate and place it into the plate. + + Pick up the doll on the other side of the plate and place it into the plate.' +sub_tasks: +- Static +- Place the pink doll into the plate with the left gripper +- Grasp the pink doll with the right gripper +- End +- Place the pink doll into the plate with the right gripper +- Grasp the pink doll with the left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.color_left_wrist + name: color_left_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.color_right_wrist + name: color_right_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.color_left_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.color_right_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_plate_storage_doll_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.color_left_wrist/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.color_right_wrist/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 3 + dataset_name: plate_storage_doll + dataset_uuid: 45f1baec-34a9-4f8d-bc50-3ef2086cf1a9 + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/4unitree_g1/plate_storage_doll/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_plate_storage_doll + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null + - object_name: doll + level1: toys + level2: doll + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: plate_storage_doll + dataset_uuid: null + task_descriptions: + - the left hand pick up the doll on the left side of the plate and place it into + the plate. + - the right hand pick up the doll on the right side of the plate and place it + into the plate. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: doll + level1: toy + level2: doll + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - unitree_g1 + end_effector_type: five_finger_hand + meta: + robot_type: unitree_g1 + codebase_version: v2.1 + statistics: + total_episodes: 388 + total_frames: 133026 + total_tasks: 2 + total_videos: 1164 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:387 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.color_left_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.color_right_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_plate_storage_rabbit_doll.yaml b/dataset_info/G1edu-u3_plate_storage_rabbit_doll.yaml new file mode 100644 index 0000000000000000000000000000000000000000..eceaa496d3133d870b2e6985735853a5385713a7 --- /dev/null +++ b/dataset_info/G1edu-u3_plate_storage_rabbit_doll.yaml @@ -0,0 +1,718 @@ +dataset_name: plate_storage_rabbit_doll +dataset_uuid: adde8f5b-b32a-49e8-b684-9f89a37ec8e4 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- three_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null +- object_name: rabbit_doll + level1: toy + level2: rabbit_doll + level3: null + level4: null + level5: null +path: G1edu-u3_plate_storage_rabbit_doll +video_url: ./assets/videos/G1edu-u3_plate_storage_rabbit_doll.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_plate_storage_rabbit_doll.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 378.4MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: unitree_g1 +codebase_version: v2.1 +statistics: + total_episodes: 227 + total_frames: 76754 + total_tasks: 1 + total_videos: 227 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:226 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: pick up the rabbit doll from the table and place it on the plate. +sub_tasks: +- Place the rabbit doll into the plate with the left gripper +- Grasp the rabbit doll with the left gripper +- End +- Static +- Abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_plate_storage_rabbit_doll_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.cam_high_rgb/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 10 + dataset_name: plate_storage_rabbit_doll + dataset_uuid: adde8f5b-b32a-49e8-b684-9f89a37ec8e4 + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/4unitree_g1/plate_storage_rabbit_doll/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_plate_storage_rabbit_doll + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null + - object_name: rabbit_doll + level1: toy + level2: rabbit_doll + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: plate_storage_rabbit_doll + dataset_uuid: null + task_descriptions: + - pick up the rabbit doll from the table and place it on the plate. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: rabbit_doll + level1: toy + level2: rabbit_doll + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - unitree_g1 + end_effector_type: five_finger_hand + meta: + robot_type: unitree_g1 + codebase_version: v2.1 + statistics: + total_episodes: 227 + total_frames: 76754 + total_tasks: 1 + total_videos: 227 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:226 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_pullBowl_storage_bread_a.yaml b/dataset_info/G1edu-u3_pullBowl_storage_bread_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b5e60673534245a0eb3f73b587b04c2930a534e3 --- /dev/null +++ b/dataset_info/G1edu-u3_pullBowl_storage_bread_a.yaml @@ -0,0 +1,851 @@ +dataset_name: pullBowl_storage_bread_a +dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a52 +scene_type: +- home +- kitchen +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null +- object_name: plate_rack + level1: furniture + level2: plate_rack + level3: null + level4: null + level5: null +path: G1edu-u3_pullBowl_storage_bread_a +video_url: ./assets/videos/G1edu-u3_pullBowl_storage_bread_a.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_pullBowl_storage_bread_a.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 2.6GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Unitree_G1_Dex3_phecda +codebase_version: v2.1 +statistics: + total_episodes: 178 + total_frames: 126861 + total_tasks: 1 + total_videos: 534 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:177 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + observation.images.cam_left_high: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Push the bowl into the center of the table and put the bread into the bowl. +sub_tasks: +- Abnormal +- Place the long bread in pink bowl with left hand +- End +- Grasp the round bread with left hand +- Grasp the long bread with left hand +- Place the round bread in pink bowl with left hand +- Move the pink bowl to the center of table with right hand +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_left_high + name: cam_left_high + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist + name: cam_left_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist + name: cam_right_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_left_high + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + - key: observation.images.cam_left_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + - key: observation.images.cam_right_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_pullBowl_storage_bread_a_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 569 + dataset_name: pullBowl_storage_bread_a + dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a52 + device_model: Unitree_G1edu-u3 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/蚂蚁外来数据/pullBowl__storage2bread2/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pullBowl_storage_bread_a + scene_types: + - home + - kitchen + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null + - object_name: plate_rack + level1: furniture + level2: plate_rack + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: + dataset_name: pullBowl_storage_bread_a + dataset_uuid: null + task_descriptions: + - pick up the plate from the table and place it on the plate rack. + scene_type: + - home + - kitchen + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: plate_rack + level1: furniture + level2: plate_rack + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - unitree_g1 + end_effector_type: + - five_finger_hand + - three_finger_hand + meta: + robot_type: Unitree_G1_Dex3_phecda + codebase_version: v2.1 + statistics: + total_episodes: 178 + total_frames: 126861 + total_tasks: 1 + total_videos: 534 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:177 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + observation.images.cam_left_high: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_pullBowl_storage_bread_b.yaml b/dataset_info/G1edu-u3_pullBowl_storage_bread_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b5b8bb4553bc38a4ef9ae6a9215c9e6b72d6d878 --- /dev/null +++ b/dataset_info/G1edu-u3_pullBowl_storage_bread_b.yaml @@ -0,0 +1,837 @@ +dataset_name: pullBowl__storage2bread_unordered +dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a48 +scene_type: +- home +atomic_actions: +- walk +end_effector_type: +- three_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: chair + level1: furniture + level2: chair + level3: null + level4: null + level5: null +- object_name: bear_doll + level1: toy + level2: bear_doll + level3: null + level4: null + level5: null +path: G1edu-u3_pullBowl_storage_bread_b +video_url: ./assets/videos/G1edu-u3_pullBowl_storage_bread_b.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_pullBowl_storage_bread_b.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 3.3GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Unitree_G1_Dex3_phecda +codebase_version: v2.1 +statistics: + total_episodes: 186 + total_frames: 162960 + total_tasks: 1 + total_videos: 558 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:185 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + observation.images.cam_left_high: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Pick up the red cup on the table. +sub_tasks: +- Move the pink bowl to the center of table with right hand +- Static +- Grasp the round bread with left hand +- End +- Move towards the toy bear on the chair +- Grasp the long bread with left hand +- Place the round bread in pink bowl with left hand +- Abnormal +- Place the long bread in pink bowl with left hand +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_left_high + name: cam_left_high + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist + name: cam_left_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist + name: cam_right_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_left_high + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + - key: observation.images.cam_left_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + - key: observation.images.cam_right_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_pullBowl_storage_bread_b_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 9 + dataset_name: pullBowl__storage2bread_unordered + dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a48 + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/蚂蚁外来数据/pullBowl__storage2bread_unordered/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pullBowl_storage_bread_b + scene_types: + - home + atomic_actions: + - walk + objects: + - object_name: chair + level1: furniture + level2: chair + level3: null + level4: null + level5: null + - object_name: bear_doll + level1: toy + level2: bear_doll + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: pullBowl_storage_bread_unordered_a + dataset_uuid: null + task_descriptions: + - the left hand pick up the towel on the left side of the plate and placed it + in the plate. + - the right hand pick up the towel on the right side of the plate and placed it + in the plate. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - unitree_g1 + end_effector_type: + - five_finger_hand + - three_finger_hand + meta: + robot_type: Unitree_G1_Dex3_phecda + codebase_version: v2.1 + statistics: + total_episodes: 186 + total_frames: 162960 + total_tasks: 1 + total_videos: 558 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:185 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + observation.images.cam_left_high: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_pullBowl_storage_bread_unordered_C.yaml b/dataset_info/G1edu-u3_pullBowl_storage_bread_unordered_C.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aabceccf093ba8aa943e3465d964729054383a43 --- /dev/null +++ b/dataset_info/G1edu-u3_pullBowl_storage_bread_unordered_C.yaml @@ -0,0 +1,905 @@ +dataset_name: pullBowl_storage_bread_unordered_C +dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a51 +scene_type: +- home +- kitchen +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: basket + level1: home_storage + level2: basket + level3: null + level4: null + level5: null +- object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null +- object_name: bowl + level1: bowl + level2: bowl + level3: null + level4: null + level5: null +- object_name: donut + level1: food + level2: donut + level3: null + level4: null + level5: null +- object_name: cake + level1: bread + level2: cake + level3: null + level4: null + level5: null +path: G1edu-u3_pullBowl_storage_bread_unordered_C +video_url: ./assets/videos/G1edu-u3_pullBowl_storage_bread_unordered_C.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_pullBowl_storage_bread_unordered_C.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 2.2GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Unitree_G1_Dex3_phecda +codebase_version: v2.1 +statistics: + total_episodes: 190 + total_frames: 110085 + total_tasks: 1 + total_videos: 570 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:189 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + observation.images.cam_left_high: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Push the bowl to the center of the table and put the bread into the bowl. +sub_tasks: +- Place the long bread in pink bowl with left hand +- End +- Grasp the round bread with left hand +- Grasp the long bread with left hand +- Place the round bread in pink bowl with left hand +- Move the pink bowl to the center of table with right hand +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_left_high + name: cam_left_high + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist + name: cam_left_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist + name: cam_right_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_left_high + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + - key: observation.images.cam_left_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + - key: observation.images.cam_right_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_pullBowl_storage_bread_unordered_C_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 572 + dataset_name: pullBowl_storage_bread_unordered_C + dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a51 + device_model: Unitree_G1edu-u3 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/蚂蚁外来数据/pullBowl__storage2bread_unordered3/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pullBowl_storage_bread_unordered_C + scene_types: + - home + - kitchen + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: basket + level1: home_storage + level2: basket + level3: null + level4: null + level5: null + - object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null + - object_name: bowl + level1: bowl + level2: bowl + level3: null + level4: null + level5: null + - object_name: donut + level1: food + level2: donut + level3: null + level4: null + level5: null + - object_name: cake + level1: bread + level2: cake + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: + dataset_name: pullBowl_storage_bread_unordered_C + dataset_uuid: null + task_descriptions: + - pick up the donut from the bowl and place it in the plate pick up the cake from + the bowl and place it in the basket. + scene_type: + - home + - kitchen + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + - object_name: donut + level1: food + level2: donut + level3: null + level4: null + level5: null + - object_name: cake + level1: food + level2: cake + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - unitree_g1 + end_effector_type: + - five_finger_hand + - three_finger_hand + meta: + robot_type: Unitree_G1_Dex3_phecda + codebase_version: v2.1 + statistics: + total_episodes: 190 + total_frames: 110085 + total_tasks: 1 + total_videos: 570 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:189 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + observation.images.cam_left_high: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_pullBowl_storage_bread_unordered_a.yaml b/dataset_info/G1edu-u3_pullBowl_storage_bread_unordered_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..973adb7f3ca91b0ca54c889ee6b60facdb245af1 --- /dev/null +++ b/dataset_info/G1edu-u3_pullBowl_storage_bread_unordered_a.yaml @@ -0,0 +1,851 @@ +dataset_name: pullBowl_storage_bread_unordered_a +dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a49 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null +- object_name: towel + level1: daily_necessities + level2: towel + level3: null + level4: null + level5: null +path: G1edu-u3_pullBowl_storage_bread_unordered_a +video_url: ./assets/videos/G1edu-u3_pullBowl_storage_bread_unordered_a.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_pullBowl_storage_bread_unordered_a.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 3.3GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Unitree_G1_Dex3_phecda +codebase_version: v2.1 +statistics: + total_episodes: 188 + total_frames: 158699 + total_tasks: 1 + total_videos: 564 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:187 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + observation.images.cam_left_high: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Push the bowl into the center of the table and put the bread into the bowl. +sub_tasks: +- Abnormal +- Place the long bread in pink bowl with left hand +- End +- Grasp the round bread with left hand +- Grasp the long bread with left hand +- Place the round bread in pink bowl with left hand +- Move the pink bowl to the center of table with right hand +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_left_high + name: cam_left_high + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist + name: cam_left_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist + name: cam_right_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_left_high + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + - key: observation.images.cam_left_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + - key: observation.images.cam_right_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_pullBowl_storage_bread_unordered_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 570 + dataset_name: pullBowl_storage_bread_unordered_a + dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a49 + device_model: Unitree_G1edu-u3 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/蚂蚁外来数据/pullBowl__storage2bread_unordered/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pullBowl_storage_bread_unordered_a + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null + - object_name: towel + level1: daily_necessities + level2: towel + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: + dataset_name: pullBowl_storage_bread_unordered_a + dataset_uuid: null + task_descriptions: + - the left hand pick up the towel on the left side of the plate and placed it + in the plate. + - the right hand pick up the towel on the right side of the plate and placed it + in the plate. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - unitree_g1 + end_effector_type: + - five_finger_hand + - three_finger_hand + meta: + robot_type: Unitree_G1_Dex3_phecda + codebase_version: v2.1 + statistics: + total_episodes: 188 + total_frames: 158699 + total_tasks: 1 + total_videos: 564 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:187 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + observation.images.cam_left_high: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_pullBowl_storage_bread_unordered_b.yaml b/dataset_info/G1edu-u3_pullBowl_storage_bread_unordered_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..268782bdd002a1e3f03d597cf628bc94d43bc8ef --- /dev/null +++ b/dataset_info/G1edu-u3_pullBowl_storage_bread_unordered_b.yaml @@ -0,0 +1,912 @@ +dataset_name: pullBowl_storage_bread_unordered_b +dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a50 +scene_type: +- home +- kitchen +atomic_actions: +- grasp +- pick +- place +- receive +end_effector_type: +- five_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: faucet + level1: water_dispenser + level2: faucet + level3: null + level4: null + level5: null +- object_name: cup + level1: kitchen_supplies + level2: cup + level3: null + level4: null + level5: null +- object_name: orange_juice + level1: drink + level2: orange_juice + level3: null + level4: null + level5: null +- object_name: cola + level1: beverages + level2: cola + level3: null + level4: null + level5: null +- object_name: sprite + level1: beverages + level2: sprite + level3: null + level4: null + level5: null +path: G1edu-u3_pullBowl_storage_bread_unordered_b +video_url: ./assets/videos/G1edu-u3_pullBowl_storage_bread_unordered_b.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_pullBowl_storage_bread_unordered_b.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 2.3GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: Unitree_G1_Dex3_phecda +codebase_version: v2.1 +statistics: + total_episodes: 190 + total_frames: 118843 + total_tasks: 1 + total_videos: 570 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:189 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + observation.images.cam_left_high: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Push the bowl to the center of the table and put the bread into the bowl. +sub_tasks: +- Abnormal +- Place the long bread in pink bowl with left hand +- End +- Grasp the round bread with left hand +- Grasp the long bread with left hand +- Place the round bread in pink bowl with left hand +- Move the pink bowl to the center of table with right hand +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_left_high + name: cam_left_high + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist + name: cam_left_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist + name: cam_right_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_left_high + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + - key: observation.images.cam_left_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + - key: observation.images.cam_right_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_pullBowl_storage_bread_unordered_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 571 + dataset_name: pullBowl_storage_bread_unordered_b + dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a50 + device_model: Unitree_G1edu-u3 + end_effector_type: five_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/蚂蚁外来数据/pullBowl__storage2bread_unordered2/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_pullBowl_storage_bread_unordered_b + scene_types: + - home + - kitchen + atomic_actions: + - grasp + - pick + - place + - receive + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: faucet + level1: water_dispenser + level2: faucet + level3: null + level4: null + level5: null + - object_name: cup + level1: kitchen_supplies + level2: cup + level3: null + level4: null + level5: null + - object_name: orange_juice + level1: drink + level2: orange_juice + level3: null + level4: null + level5: null + - object_name: cola + level1: beverages + level2: cola + level3: null + level4: null + level5: null + - object_name: sprite + level1: beverages + level2: sprite + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: + dataset_name: pullBowl_storage_bread_unordered_b + dataset_uuid: null + task_descriptions: + - place the cup under the faucet to collect the cola, remove the cup. + - place the cup under the faucet to collect the orange juice, remove the cup. + - place the cup under the faucet to collect the sprite, remove the cup. + - the left hand pick up the cup from the table. + - the right hand pick up the cup from the table. + scene_type: + - home + - kitchen + atomic_actions: + - grasp + - pick + - receive + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: faucet + level1: tool + level2: faucet + level3: null + level4: null + level5: null + - object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null + - object_name: orange_juice + level1: drink + level2: orange_juice + level3: null + level4: null + level5: null + - object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null + - object_name: sprite + level1: drink + level2: sprite + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - unitree_g1 + end_effector_type: + - five_finger_hand + - three_finger_hand + meta: + robot_type: Unitree_G1_Dex3_phecda + codebase_version: v2.1 + statistics: + total_episodes: 190 + total_frames: 118843 + total_tasks: 1 + total_videos: 570 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:189 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + observation.images.cam_left_high: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_put_the_bread_aw.yaml b/dataset_info/G1edu-u3_put_the_bread_aw.yaml new file mode 100644 index 0000000000000000000000000000000000000000..724e848e2aea71ea33e01ffd0e78569a6712e817 --- /dev/null +++ b/dataset_info/G1edu-u3_put_the_bread_aw.yaml @@ -0,0 +1,692 @@ +dataset_name: put_the_bread_aw +dataset_uuid: e6db4b80-8fbb-4767-b613-734d0e088946 +scene_type: +- home +atomic_actions: +- grasp +- place +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: bread + level1: food + level2: bread + level3: null + level4: null + level5: null +path: G1edu-u3_put_the_bread_aw +video_url: ./assets/videos/G1edu-u3_put_the_bread_aw.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_put_the_bread_aw.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 65.2MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 26 + total_frames: 5153 + total_tasks: 1 + total_videos: 26 + total_chunks: 1 + chunks_size: 26 + fps: 30 +splits: + train: 0:25 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the water bottle + + Pick up the bread + + Pick up the pink cup + + Pick up the lemmon + + Pick up the tissue box + + Pick up the toy bear + + Place the water bottle + + Place the bread + + Place the pink cup + + Place the lemon + + Place the lemon on the orange round plate + + Place the tissue box + + Place the toy bear' +sub_tasks: +- Place the long bread on the table with left gripper +- End +- Place the long bread on the table with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_put_the_bread_aw_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 593 + dataset_name: put_the_bread_aw + dataset_uuid: e6db4b80-8fbb-4767-b613-734d0e088946 + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1105/put_the_bread_aw/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_put_the_bread_aw + scene_types: + - home + atomic_actions: + - grasp + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: bread + level1: food + level2: bread + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 26 + total_frames: 5153 + total_tasks: 1 + total_videos: 26 + total_chunks: 1 + chunks_size: 26 + fps: 30 + splits: + train: 0:25 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_put_the_cup_b.yaml b/dataset_info/G1edu-u3_put_the_cup_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0d7b37c0a07258ced00bd52da129b017bc84cc4a --- /dev/null +++ b/dataset_info/G1edu-u3_put_the_cup_b.yaml @@ -0,0 +1,696 @@ +dataset_name: put_the_cup_b +dataset_uuid: c8b2edb4-b19b-4458-adfc-799a5e6f2065 +scene_type: +- home +atomic_actions: +- grasp +- place +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: cup + level1: kitchen_supplies + level2: cup + level3: null + level4: null + level5: null +path: G1edu-u3_put_the_cup_b +video_url: ./assets/videos/G1edu-u3_put_the_cup_b.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_put_the_cup_b.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 73.7MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 29 + total_frames: 6447 + total_tasks: 1 + total_videos: 29 + total_chunks: 1 + chunks_size: 29 + fps: 30 +splits: + train: 0:28 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the red apple + + Pick up the red apple + + Pick up the water bottle + + Pick up the water bottle + + Pick up the white cup + + Pick up the lemon + + Place the red apple + + Place the red apple in the basket + + Place the red apple on the blue rectangle plate + + Place the red apple on the orange round plate + + Place the water bottle + + Place the water bottle + + Place the white cup + + Place the lemon on the blue rectangle plate + + Place the lemon on the orange round plate' +sub_tasks: +- End +- Place the paper cup on the table with right gripper +- Place the paper cup on the table with left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_put_the_cup_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 617 + dataset_name: put_the_cup_b + dataset_uuid: c8b2edb4-b19b-4458-adfc-799a5e6f2065 + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1106/put_the_cup_b/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_put_the_cup_b + scene_types: + - home + atomic_actions: + - grasp + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cup + level1: kitchen_supplies + level2: cup + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 29 + total_frames: 6447 + total_tasks: 1 + total_videos: 29 + total_chunks: 1 + chunks_size: 29 + fps: 30 + splits: + train: 0:28 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_put_the_lemon_af.yaml b/dataset_info/G1edu-u3_put_the_lemon_af.yaml new file mode 100644 index 0000000000000000000000000000000000000000..512108b2673b138c5fb04ef8a19d5fe44dff62b5 --- /dev/null +++ b/dataset_info/G1edu-u3_put_the_lemon_af.yaml @@ -0,0 +1,692 @@ +dataset_name: put_the_lemon_af +dataset_uuid: c37586ed-bc01-40b2-9038-cd26ce06df5b +scene_type: +- home +atomic_actions: +- grasp +- place +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: lemon + level1: fruits + level2: lemon + level3: null + level4: null + level5: null +path: G1edu-u3_put_the_lemon_af +video_url: ./assets/videos/G1edu-u3_put_the_lemon_af.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_put_the_lemon_af.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 37.1MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 19 + total_frames: 3544 + total_tasks: 1 + total_videos: 19 + total_chunks: 1 + chunks_size: 19 + fps: 30 +splits: + train: 0:18 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the water bottle + + Pick up the bread + + Pick up the pink cup + + Pick up the lemmon + + Pick up the tissue box + + Pick up the toy bear + + Place the water bottle + + Place the bread + + Place the pink cup + + Place the lemon + + Place the lemon on the orange round plate + + Place the tissue box + + Place the toy bear' +sub_tasks: +- End +- Place the lemon on the table with right gripper +- Place the lemon on the table with left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_put_the_lemon_af_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 594 + dataset_name: put_the_lemon_af + dataset_uuid: c37586ed-bc01-40b2-9038-cd26ce06df5b + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1105/put_the_lemon_af/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_put_the_lemon_af + scene_types: + - home + atomic_actions: + - grasp + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: lemon + level1: fruits + level2: lemon + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 19 + total_frames: 3544 + total_tasks: 1 + total_videos: 19 + total_chunks: 1 + chunks_size: 19 + fps: 30 + splits: + train: 0:18 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_put_the_lemon_on_the_plate_ah.yaml b/dataset_info/G1edu-u3_put_the_lemon_on_the_plate_ah.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a02ab016687f9a4237f77309a2d0fa1b3ca2808a --- /dev/null +++ b/dataset_info/G1edu-u3_put_the_lemon_on_the_plate_ah.yaml @@ -0,0 +1,703 @@ +dataset_name: put_the_lemon_on_the_plate_ah +dataset_uuid: 7f32d00d-3005-45c1-90cb-9a16b5e64034 +scene_type: +- home +atomic_actions: +- grasp +- place +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null +- object_name: lemon + level1: fruits + level2: lemon + level3: null + level4: null + level5: null +path: G1edu-u3_put_the_lemon_on_the_plate_ah +video_url: ./assets/videos/G1edu-u3_put_the_lemon_on_the_plate_ah.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_put_the_lemon_on_the_plate_ah.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 20.4MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 9 + total_frames: 1961 + total_tasks: 1 + total_videos: 9 + total_chunks: 1 + chunks_size: 9 + fps: 30 +splits: + train: 0:8 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the water bottle + + Pick up the bread + + Pick up the pink cup + + Pick up the lemmon + + Pick up the tissue box + + Pick up the toy bear + + Place the water bottle + + Place the bread + + Place the pink cup + + Place the lemon + + Place the lemon on the orange round plate + + Place the tissue box + + Place the toy bear' +sub_tasks: +- Place the lemon on the orange plate with right gripper +- End +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_put_the_lemon_on_the_plate_ah_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 599 + dataset_name: put_the_lemon_on_the_plate_ah + dataset_uuid: 7f32d00d-3005-45c1-90cb-9a16b5e64034 + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1105/put_the_lemon_on_the_plate_ah/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_put_the_lemon_on_the_plate_ah + scene_types: + - home + atomic_actions: + - grasp + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null + - object_name: lemon + level1: fruits + level2: lemon + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 9 + total_frames: 1961 + total_tasks: 1 + total_videos: 9 + total_chunks: 1 + chunks_size: 9 + fps: 30 + splits: + train: 0:8 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_put_the_tissue_box_al.yaml b/dataset_info/G1edu-u3_put_the_tissue_box_al.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cfb893803b5596ab344f2b8941e787b5050df088 --- /dev/null +++ b/dataset_info/G1edu-u3_put_the_tissue_box_al.yaml @@ -0,0 +1,703 @@ +dataset_name: put_the_tissue_box_al +dataset_uuid: 39aeb43d-8473-408d-a61d-bdd24134ab9a +scene_type: +- home +atomic_actions: +- grasp +- place +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +- object_name: tissue + level1: daily_necessities + level2: tissue + level3: null + level4: null + level5: null +path: G1edu-u3_put_the_tissue_box_al +video_url: ./assets/videos/G1edu-u3_put_the_tissue_box_al.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_put_the_tissue_box_al.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 142.3MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 39 + total_frames: 10816 + total_tasks: 1 + total_videos: 39 + total_chunks: 1 + chunks_size: 41 + fps: 30 +splits: + train: 0:38 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the water bottle + + Pick up the bread + + Pick up the pink cup + + Pick up the lemmon + + Pick up the tissue box + + Pick up the toy bear + + Place the water bottle + + Place the bread + + Place the pink cup + + Place the lemon + + Place the lemon on the orange round plate + + Place the tissue box + + Place the toy bear' +sub_tasks: +- End +- Place the tissue box on the table with both gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_put_the_tissue_box_al_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 597 + dataset_name: put_the_tissue_box_al + dataset_uuid: 39aeb43d-8473-408d-a61d-bdd24134ab9a + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1105/put_the_tissue_box_al/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_put_the_tissue_box_al + scene_types: + - home + atomic_actions: + - grasp + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + - object_name: tissue + level1: daily_necessities + level2: tissue + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 39 + total_frames: 10816 + total_tasks: 1 + total_videos: 39 + total_chunks: 1 + chunks_size: 41 + fps: 30 + splits: + train: 0:38 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_put_the_toy_ap.yaml b/dataset_info/G1edu-u3_put_the_toy_ap.yaml new file mode 100644 index 0000000000000000000000000000000000000000..70fa3e39431e73bd5d1ca0ef6cb2ead3873ca7d1 --- /dev/null +++ b/dataset_info/G1edu-u3_put_the_toy_ap.yaml @@ -0,0 +1,692 @@ +dataset_name: put_the_toy_ap +dataset_uuid: 925411a9-6e40-405a-a2fc-f09d64a8d75a +scene_type: +- home +atomic_actions: +- grasp +- place +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: toy + level1: toy + level2: toy + level3: null + level4: null + level5: null +path: G1edu-u3_put_the_toy_ap +video_url: ./assets/videos/G1edu-u3_put_the_toy_ap.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_put_the_toy_ap.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 32.1MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 9 + total_frames: 2242 + total_tasks: 1 + total_videos: 9 + total_chunks: 1 + chunks_size: 10 + fps: 30 +splits: + train: 0:8 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the water bottle + + Pick up the bread + + Pick up the pink cup + + Pick up the lemmon + + Pick up the tissue box + + Pick up the toy bear + + Place the water bottle + + Place the bread + + Place the pink cup + + Place the lemon + + Place the lemon on the orange round plate + + Place the tissue box + + Place the toy bear' +sub_tasks: +- Place the toy bear on the table with left gripper +- End +- Place the toy bear on the table with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_put_the_toy_ap_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 595 + dataset_name: put_the_toy_ap + dataset_uuid: 925411a9-6e40-405a-a2fc-f09d64a8d75a + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1105/put_the_toy_ap/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_put_the_toy_ap + scene_types: + - home + atomic_actions: + - grasp + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: toy + level1: toy + level2: toy + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 9 + total_frames: 2242 + total_tasks: 1 + total_videos: 9 + total_chunks: 1 + chunks_size: 10 + fps: 30 + splits: + train: 0:8 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_put_the_water_bottle_aq.yaml b/dataset_info/G1edu-u3_put_the_water_bottle_aq.yaml new file mode 100644 index 0000000000000000000000000000000000000000..69c38989385b463148923a144439dcffc215e7f2 --- /dev/null +++ b/dataset_info/G1edu-u3_put_the_water_bottle_aq.yaml @@ -0,0 +1,704 @@ +dataset_name: put_the_water_bottle_aq +dataset_uuid: 09897bd8-675b-4f42-892f-cc674883e61f +scene_type: +- home +atomic_actions: +- grasp +- place +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: bottle + level1: container + level2: bottle + level3: null + level4: null + level5: null +- object_name: water + level1: beverages + level2: water + level3: null + level4: null + level5: null +path: G1edu-u3_put_the_water_bottle_aq +video_url: ./assets/videos/G1edu-u3_put_the_water_bottle_aq.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_put_the_water_bottle_aq.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 73.1MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 21 + total_frames: 5861 + total_tasks: 1 + total_videos: 21 + total_chunks: 1 + chunks_size: 24 + fps: 30 +splits: + train: 0:20 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the water bottle + + Pick up the bread + + Pick up the pink cup + + Pick up the lemmon + + Pick up the tissue box + + Pick up the toy bear + + Place the water bottle + + Place the bread + + Place the pink cup + + Place the lemon + + Place the lemon on the orange round plate + + Place the tissue box + + Place the toy bear' +sub_tasks: +- End +- Place the water bottle on the table with left gripper +- Place the water bottle on the table with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_put_the_water_bottle_aq_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 591 + dataset_name: put_the_water_bottle_aq + dataset_uuid: 09897bd8-675b-4f42-892f-cc674883e61f + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1105/put_the_water_bottle_aq/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_put_the_water_bottle_aq + scene_types: + - home + atomic_actions: + - grasp + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: bottle + level1: container + level2: bottle + level3: null + level4: null + level5: null + - object_name: water + level1: beverages + level2: water + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 21 + total_frames: 5861 + total_tasks: 1 + total_videos: 21 + total_chunks: 1 + chunks_size: 24 + fps: 30 + splits: + train: 0:20 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_put_the_water_bottle_on_the_table_d.yaml b/dataset_info/G1edu-u3_put_the_water_bottle_on_the_table_d.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aac718e661b3df22219712c9053ba24dc0290b87 --- /dev/null +++ b/dataset_info/G1edu-u3_put_the_water_bottle_on_the_table_d.yaml @@ -0,0 +1,708 @@ +dataset_name: put_the_water_bottle_on_the_table_d +dataset_uuid: 7f724d35-f01a-4eaa-a398-60449a270f33 +scene_type: +- home +atomic_actions: +- grasp +- place +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: bottle + level1: container + level2: bottle + level3: null + level4: null + level5: null +- object_name: water + level1: beverages + level2: water + level3: null + level4: null + level5: null +path: G1edu-u3_put_the_water_bottle_on_the_table_d +video_url: ./assets/videos/G1edu-u3_put_the_water_bottle_on_the_table_d.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_put_the_water_bottle_on_the_table_d.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 82.6MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 32 + total_frames: 6580 + total_tasks: 1 + total_videos: 32 + total_chunks: 1 + chunks_size: 32 + fps: 30 +splits: + train: 0:31 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the red apple + + Pick up the red apple + + Pick up the water bottle + + Pick up the water bottle + + Pick up the white cup + + Pick up the lemon + + Place the red apple + + Place the red apple in the basket + + Place the red apple on the blue rectangle plate + + Place the red apple on the orange round plate + + Place the water bottle + + Place the water bottle + + Place the white cup + + Place the lemon on the blue rectangle plate + + Place the lemon on the orange round plate' +sub_tasks: +- Place the water bottle on the table with left gripper +- End +- Place the water bottle on the table with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_put_the_water_bottle_on_the_table_d_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 609 + dataset_name: put_the_water_bottle_on_the_table_d + dataset_uuid: 7f724d35-f01a-4eaa-a398-60449a270f33 + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1106/put_the_water_bottle_on_the_table_d/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_put_the_water_bottle_on_the_table_d + scene_types: + - home + atomic_actions: + - grasp + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: bottle + level1: container + level2: bottle + level3: null + level4: null + level5: null + - object_name: water + level1: beverages + level2: water + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 32 + total_frames: 6580 + total_tasks: 1 + total_videos: 32 + total_chunks: 1 + chunks_size: 32 + fps: 30 + splits: + train: 0:31 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_stack_bowls.yaml b/dataset_info/G1edu-u3_stack_bowls.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9e4dfbd9c1af4c4e3018e8d30b2e8be3dc92e3c9 --- /dev/null +++ b/dataset_info/G1edu-u3_stack_bowls.yaml @@ -0,0 +1,841 @@ +dataset_name: stack_bowls +dataset_uuid: d27ed137-4947-4948-b818-a02094cab254 +scene_type: +- home +- kitchen +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- three_finger_hand +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: bowl + level1: bowl + level2: bowl + level3: null + level4: null + level5: null +path: G1edu-u3_stack_bowls +video_url: ./assets/videos/G1edu-u3_stack_bowls.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_stack_bowls.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 7.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: unitree_g1 +codebase_version: v2.1 +statistics: + total_episodes: 261 + total_frames: 166122 + total_tasks: 2 + total_videos: 783 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:260 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.color_left_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.color_right_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the bowl on one side of the table and place it on top of the middle + bowl, then pick up the bowl on the other side of the table and place it on top of + the middle bowls. + + Pick up the bowl on one side of the table and place it on top of the middle bowl, + then pick up the bowl on the other side of the table and place it on top of the + middle bowls.' +sub_tasks: +- Place the bowl on the right onto the bowl in the middle with right gripper +- Grasp the bowl on the right with the right gripper +- Grasp the bowl on the left with the left gripper +- End +- Static +- Abnormal +- Place the bowl on the left onto the bowl in the middle with left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.color_left_wrist + name: color_left_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.color_right_wrist + name: color_right_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.color_left_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.color_right_wrist + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_stack_bowls_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.color_left_wrist/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.color_right_wrist/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 6 + dataset_name: stack_bowls + dataset_uuid: d27ed137-4947-4948-b818-a02094cab254 + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/4unitree_g1/stack_bowls/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_stack_bowls + scene_types: + - home + - kitchen + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: bowl + level1: bowl + level2: bowl + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: stack_bowls + dataset_uuid: null + task_descriptions: + - the left hand pick up the bowl on the left side of the table and place it on + top of the middle bowl, the right hand pick up the bowl on the right side of + the table and place it on top of the middle bowls. + - the right hand pick up the bowl on the right side of the table and place it + on top of the middle bowl, the left hand pick up the bowl on the left side of + the table and place it on top of the middle bowls. + scene_type: + - home + - kitchen + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - unitree_g1 + end_effector_type: five_finger_hand + meta: + robot_type: unitree_g1 + codebase_version: v2.1 + statistics: + total_episodes: 261 + total_frames: 166122 + total_tasks: 2 + total_videos: 783 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:260 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.color_left_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.color_right_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/G1edu-u3_tray_storage_lemon_a.yaml b/dataset_info/G1edu-u3_tray_storage_lemon_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b0a4fb008183b6822fac2ec08c05ea9e30392d20 --- /dev/null +++ b/dataset_info/G1edu-u3_tray_storage_lemon_a.yaml @@ -0,0 +1,708 @@ +dataset_name: tray_storage_lemon_a +dataset_uuid: 50af80c8-eb74-4dec-9689-8bea0af5a8c2 +scene_type: +- home +atomic_actions: +- pick +- place +end_effector_type: +- three_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: tray + level1: container + level2: tray + level3: null + level4: null + level5: null +- object_name: lemon + level1: fruits + level2: lemon + level3: null + level4: null + level5: null +path: G1edu-u3_tray_storage_lemon_a +video_url: ./assets/videos/G1edu-u3_tray_storage_lemon_a.mp4 +thumbnail_url: ./assets/thumbnails/G1edu-u3_tray_storage_lemon_a.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 27.2MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: G1edu-u3 +codebase_version: v2.1 +statistics: + total_episodes: 13 + total_frames: 2298 + total_tasks: 1 + total_videos: 13 + total_chunks: 1 + chunks_size: 13 + fps: 30 +splits: + train: 0:12 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: 'Pick up the red apple + + Pick up the red apple + + Pick up the water bottle + + Pick up the water bottle + + Pick up the white cup + + Pick up the lemon + + Place the red apple + + Place the red apple in the basket + + Place the red apple on the blue rectangle plate + + Place the red apple on the orange round plate + + Place the water bottle + + Place the water bottle + + Place the white cup + + Place the lemon on the blue rectangle plate + + Place the lemon on the orange round plate' +sub_tasks: +- Place the lemon on the blue plate with left gripper +- Place the lemon on the blue plate with right gripper +- End +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.ego_view + name: ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.ego_view + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +action_space: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "G1edu-u3_tray_storage_lemon_a_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 611 + dataset_name: tray_storage_lemon_a + dataset_uuid: 50af80c8-eb74-4dec-9689-8bea0af5a8c2 + device_model: Unitree_G1edu-u3 + end_effector_type: three_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/原始数据/11月/unitree/data_1106/tray_storage_lemon_a/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/G1edu-u3_tray_storage_lemon_a + scene_types: + - home + atomic_actions: + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: tray + level1: container + level2: tray + level3: null + level4: null + level5: null + - object_name: lemon + level1: fruits + level2: lemon + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: {} + meta: + robot_type: null + codebase_version: v2.1 + statistics: + total_episodes: 13 + total_frames: 2298 + total_tasks: 1 + total_videos: 13 + total_chunks: 1 + chunks_size: 13 + fps: 30 + splits: + train: 0:12 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.ego_view: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + info: + video.height: 480 + video.width: 640 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 30 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float64 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Galbot_g1_fold_clothe_b.yaml b/dataset_info/Galbot_g1_fold_clothe_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4ce6971251c8c1a4a3296303c8f311a73e96a407 --- /dev/null +++ b/dataset_info/Galbot_g1_fold_clothe_b.yaml @@ -0,0 +1,906 @@ +dataset_name: fold_clothe_b +dataset_uuid: 0dd63c25-960f-4489-88af-e3c5c38998c2 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +- flod +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: clothes + level1: fabric + level2: clothes + level3: null + level4: null + level5: null +path: Galbot_g1_fold_clothe_b +video_url: ./assets/videos/Galbot_g1_fold_clothe_b.mp4 +thumbnail_url: ./assets/thumbnails/Galbot_g1_fold_clothe_b.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 8.8GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: yinhe +codebase_version: v2.1 +statistics: + total_episodes: 213 + total_frames: 197328 + total_tasks: 1 + total_videos: 639 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:212 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: fold and organize the clothes. +sub_tasks: +- Abnormal +- use the left gripper to clamp the left edge of the fabric +- Drag the clothes to the center of the table +- End +- use both grippers simultaneously to clamp the upper edge of the clothing fabric +- use both grippers to drag the lower edge of the fabric forward and fold it over + the upper edge +- use both grippers to drag the upper edge of the fabric backward and fold it over + the lower edge +- use both grippers simultaneously to clamp the lower edge of the clothing fabric +- Drag the clothes downward with both gripper +- use the left gripper to drag the left edge of the fabric to the left and folds it + over the right edge +- Flip the folded clothes over with left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + resolution: + - 368 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + resolution: + - 368 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm +action_space: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Galbot_g1_fold_clothe_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 488 + dataset_name: fold_clothe_b + dataset_uuid: 0dd63c25-960f-4489-88af-e3c5c38998c2 + device_model: Galbot_G1 + end_effector_type: two_finger_gripper + operation_platform_height: 0.0 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/银河通用/fold_clothe_a003/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Galbot_g1_fold_clothe_b + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + - flod + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: clothes + level1: fabric + level2: clothes + level3: null + level4: null + level5: null + total_episodes: null + yaml: {} + meta: + robot_type: yinhe + codebase_version: v2.1 + statistics: + total_episodes: 213 + total_frames: 197328 + total_tasks: 1 + total_videos: 639 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:212 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Galbot_g1_fold_clothe_c.yaml b/dataset_info/Galbot_g1_fold_clothe_c.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6495f977f080cc8883b6f721a819971c6419ae0d --- /dev/null +++ b/dataset_info/Galbot_g1_fold_clothe_c.yaml @@ -0,0 +1,906 @@ +dataset_name: fold_clothe_c +dataset_uuid: 9c9c15eb-08d9-4119-b551-ce2439643f0f +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +- flod +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: clothes + level1: fabric + level2: clothes + level3: null + level4: null + level5: null +path: Galbot_g1_fold_clothe_c +video_url: ./assets/videos/Galbot_g1_fold_clothe_c.mp4 +thumbnail_url: ./assets/thumbnails/Galbot_g1_fold_clothe_c.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 22.3GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: yinhe +codebase_version: v2.1 +statistics: + total_episodes: 666 + total_frames: 516810 + total_tasks: 1 + total_videos: 1998 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:665 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: fold and organize the clothes. +sub_tasks: +- Abnormal +- use the left gripper to clamp the left edge of the fabric +- Drag the clothes to the center of the table +- End +- use both grippers simultaneously to clamp the upper edge of the clothing fabric +- use both grippers to drag the lower edge of the fabric forward and fold it over + the upper edge +- use both grippers to drag the upper edge of the fabric backward and fold it over + the lower edge +- use both grippers simultaneously to clamp the lower edge of the clothing fabric +- Drag the clothes downward with both gripper +- use the left gripper to drag the left edge of the fabric to the left and folds it + over the right edge +- Flip the folded clothes over with left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + resolution: + - 368 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + resolution: + - 368 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm +action_space: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Galbot_g1_fold_clothe_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 491 + dataset_name: fold_clothe_c + dataset_uuid: 9c9c15eb-08d9-4119-b551-ce2439643f0f + device_model: Galbot_G1 + end_effector_type: two_finger_gripper + operation_platform_height: 0.0 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/银河通用/fold_clothe_a004/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Galbot_g1_fold_clothe_c + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + - flod + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: clothes + level1: fabric + level2: clothes + level3: null + level4: null + level5: null + total_episodes: null + yaml: {} + meta: + robot_type: yinhe + codebase_version: v2.1 + statistics: + total_episodes: 666 + total_frames: 516810 + total_tasks: 1 + total_videos: 1998 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:665 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Galbot_g1_fold_clothe_e.yaml b/dataset_info/Galbot_g1_fold_clothe_e.yaml new file mode 100644 index 0000000000000000000000000000000000000000..249d7ab9fb4dd23cea5f44ed7842d1e71bce6850 --- /dev/null +++ b/dataset_info/Galbot_g1_fold_clothe_e.yaml @@ -0,0 +1,907 @@ +dataset_name: fold_clothe_e +dataset_uuid: 55462322-b5d2-4e42-a329-a02ce05490b8 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +- flod +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: clothes + level1: fabric + level2: clothes + level3: null + level4: null + level5: null +path: Galbot_g1_fold_clothe_e +video_url: ./assets/videos/Galbot_g1_fold_clothe_e.mp4 +thumbnail_url: ./assets/thumbnails/Galbot_g1_fold_clothe_e.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 25.8GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: yinhe +codebase_version: v2.1 +statistics: + total_episodes: 865 + total_frames: 692130 + total_tasks: 1 + total_videos: 2595 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:864 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: fold and organize the clothes. +sub_tasks: +- Flip the folded clothes over with right gripper +- Abnormal +- use the left gripper to clamp the left edge of the fabric +- Drag the clothes to the center of the table +- End +- use both grippers simultaneously to clamp the upper edge of the clothing fabric +- use both grippers to drag the lower edge of the fabric forward and fold it over + the upper edge +- use both grippers to drag the upper edge of the fabric backward and fold it over + the lower edge +- use both grippers simultaneously to clamp the lower edge of the clothing fabric +- Drag the clothes downward with both gripper +- use the left gripper to drag the left edge of the fabric to the left and folds it + over the right edge +- Flip the folded clothes over with left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + resolution: + - 368 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + resolution: + - 368 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm +action_space: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Galbot_g1_fold_clothe_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 492 + dataset_name: fold_clothe_e + dataset_uuid: 55462322-b5d2-4e42-a329-a02ce05490b8 + device_model: Galbot_G1 + end_effector_type: two_finger_gripper + operation_platform_height: 0.0 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/银河通用/fold_clothe_a006/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Galbot_g1_fold_clothe_e + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + - flod + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: clothes + level1: fabric + level2: clothes + level3: null + level4: null + level5: null + total_episodes: null + yaml: {} + meta: + robot_type: yinhe + codebase_version: v2.1 + statistics: + total_episodes: 865 + total_frames: 692130 + total_tasks: 1 + total_videos: 2595 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:864 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Galbot_g1_steamer_storage_baozi_a.yaml b/dataset_info/Galbot_g1_steamer_storage_baozi_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d3a9fe54618a980be37101b5b00d881c4d7a48af --- /dev/null +++ b/dataset_info/Galbot_g1_steamer_storage_baozi_a.yaml @@ -0,0 +1,932 @@ +dataset_name: steamer_storage_baozi_a +dataset_uuid: 1e479c19-9f69-42ac-9238-114fcf1a487c +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: baozi + level1: food + level2: baozi + level3: null + level4: null + level5: null +- object_name: steamer + level1: cookware + level2: steamer + level3: null + level4: null + level5: null +- object_name: pot_lid + level1: daily_necessities + level2: pot_lid + level3: null + level4: null + level5: null +- object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null +path: Galbot_g1_steamer_storage_baozi_a +video_url: ./assets/videos/Galbot_g1_steamer_storage_baozi_a.mp4 +thumbnail_url: ./assets/thumbnails/Galbot_g1_steamer_storage_baozi_a.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 4.3GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: yinhe +codebase_version: v2.1 +statistics: + total_episodes: 266 + total_frames: 250217 + total_tasks: 1 + total_videos: 798 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:265 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: take steamed baozi put them in steamer then cover it. +sub_tasks: +- End +- Place the baozi on the steamer with right gripper +- Place the pot lid on the steamer with left gripper +- Grasp the pot lid with left gripper +- Grasp the baozi in the plate with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + resolution: + - 368 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + resolution: + - 368 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm +action_space: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Galbot_g1_steamer_storage_baozi_a_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 145 + dataset_name: steamer_storage_baozi_a + dataset_uuid: 1e479c19-9f69-42ac-9238-114fcf1a487c + device_model: Galbot_G1 + end_effector_type: two_finger_gripper + operation_platform_height: 0.0 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/银河通用/steamer_storage_baozi_a001/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Galbot_g1_steamer_storage_baozi_a + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: baozi + level1: food + level2: baozi + level3: null + level4: null + level5: null + - object_name: steamer + level1: cookware + level2: steamer + level3: null + level4: null + level5: null + - object_name: pot_lid + level1: daily_necessities + level2: pot_lid + level3: null + level4: null + level5: null + - object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null + total_episodes: null + yaml: {} + meta: + robot_type: yinhe + codebase_version: v2.1 + statistics: + total_episodes: 266 + total_frames: 250217 + total_tasks: 1 + total_videos: 798 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:265 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Galbot_g1_steamer_storage_baozi_b.yaml b/dataset_info/Galbot_g1_steamer_storage_baozi_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..57f4884d0e24538fcc6631d9374307f0e1efe545 --- /dev/null +++ b/dataset_info/Galbot_g1_steamer_storage_baozi_b.yaml @@ -0,0 +1,933 @@ +dataset_name: steamer_storage_baozi_b +dataset_uuid: 8e39e24f-3c2a-42e1-a5ca-04a7b55ef43c +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: baozi + level1: food + level2: baozi + level3: null + level4: null + level5: null +- object_name: steamer + level1: cookware + level2: steamer + level3: null + level4: null + level5: null +- object_name: pot_lid + level1: daily_necessities + level2: pot_lid + level3: null + level4: null + level5: null +- object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null +path: Galbot_g1_steamer_storage_baozi_b +video_url: ./assets/videos/Galbot_g1_steamer_storage_baozi_b.mp4 +thumbnail_url: ./assets/thumbnails/Galbot_g1_steamer_storage_baozi_b.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 8.5GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: yinhe +codebase_version: v2.1 +statistics: + total_episodes: 430 + total_frames: 449647 + total_tasks: 1 + total_videos: 1290 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:429 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: take steamed baozi put them in steamer then cover it. +sub_tasks: +- Grasp the pot lid with left gripper +- Abnormal +- Place the pot lid on the steamer with left gripper +- End +- Place the baozi on the steamer with right gripper +- Grasp the baozi in the plate with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + resolution: + - 368 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + resolution: + - 368 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm +action_space: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Galbot_g1_steamer_storage_baozi_b_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 502 + dataset_name: steamer_storage_baozi_b + dataset_uuid: 8e39e24f-3c2a-42e1-a5ca-04a7b55ef43c + device_model: Galbot_G1 + end_effector_type: two_finger_gripper + operation_platform_height: 0.0 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/银河通用/steamer_storage_baozi_a002/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Galbot_g1_steamer_storage_baozi_b + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: baozi + level1: food + level2: baozi + level3: null + level4: null + level5: null + - object_name: steamer + level1: cookware + level2: steamer + level3: null + level4: null + level5: null + - object_name: pot_lid + level1: daily_necessities + level2: pot_lid + level3: null + level4: null + level5: null + - object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null + total_episodes: null + yaml: {} + meta: + robot_type: yinhe + codebase_version: v2.1 + statistics: + total_episodes: 430 + total_frames: 449647 + total_tasks: 1 + total_videos: 1290 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:429 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Galbot_g1_steamer_storage_baozi_c.yaml b/dataset_info/Galbot_g1_steamer_storage_baozi_c.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2671c9e2a789789f7b019b0c1ca1de140b77ae19 --- /dev/null +++ b/dataset_info/Galbot_g1_steamer_storage_baozi_c.yaml @@ -0,0 +1,933 @@ +dataset_name: steamer_storage_baozi_c +dataset_uuid: 9e52b78e-5521-46bc-a8f7-c30253014025 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: baozi + level1: food + level2: baozi + level3: null + level4: null + level5: null +- object_name: steamer + level1: cookware + level2: steamer + level3: null + level4: null + level5: null +- object_name: pot_lid + level1: daily_necessities + level2: pot_lid + level3: null + level4: null + level5: null +- object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null +path: Galbot_g1_steamer_storage_baozi_c +video_url: ./assets/videos/Galbot_g1_steamer_storage_baozi_c.mp4 +thumbnail_url: ./assets/thumbnails/Galbot_g1_steamer_storage_baozi_c.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 4.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: yinhe +codebase_version: v2.1 +statistics: + total_episodes: 207 + total_frames: 226059 + total_tasks: 1 + total_videos: 621 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:206 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: take steamed baozi put them in steamer then cover it. +sub_tasks: +- Grasp the pot lid with left gripper +- Abnormal +- Place the pot lid on the steamer with left gripper +- End +- Place the baozi on the steamer with right gripper +- Grasp the baozi in the plate with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + resolution: + - 368 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + resolution: + - 368 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm +action_space: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Galbot_g1_steamer_storage_baozi_c_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 501 + dataset_name: steamer_storage_baozi_c + dataset_uuid: 9e52b78e-5521-46bc-a8f7-c30253014025 + device_model: Galbot_G1 + end_effector_type: two_finger_gripper + operation_platform_height: 0.0 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/银河通用/steamer_storage_baozi_a003/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Galbot_g1_steamer_storage_baozi_c + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: baozi + level1: food + level2: baozi + level3: null + level4: null + level5: null + - object_name: steamer + level1: cookware + level2: steamer + level3: null + level4: null + level5: null + - object_name: pot_lid + level1: daily_necessities + level2: pot_lid + level3: null + level4: null + level5: null + - object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null + total_episodes: null + yaml: {} + meta: + robot_type: yinhe + codebase_version: v2.1 + statistics: + total_episodes: 207 + total_frames: 226059 + total_tasks: 1 + total_videos: 621 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:206 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Galbot_g1_steamer_storage_baozi_d.yaml b/dataset_info/Galbot_g1_steamer_storage_baozi_d.yaml new file mode 100644 index 0000000000000000000000000000000000000000..eed6071bdcfc3fcc19a794f1782ee62f668eed13 --- /dev/null +++ b/dataset_info/Galbot_g1_steamer_storage_baozi_d.yaml @@ -0,0 +1,933 @@ +dataset_name: steamer_storage_baozi_d +dataset_uuid: 6476bc25-2a08-4c26-98c9-e84875c9b667 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: baozi + level1: food + level2: baozi + level3: null + level4: null + level5: null +- object_name: steamer + level1: cookware + level2: steamer + level3: null + level4: null + level5: null +- object_name: pot_lid + level1: daily_necessities + level2: pot_lid + level3: null + level4: null + level5: null +- object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null +path: Galbot_g1_steamer_storage_baozi_d +video_url: ./assets/videos/Galbot_g1_steamer_storage_baozi_d.mp4 +thumbnail_url: ./assets/thumbnails/Galbot_g1_steamer_storage_baozi_d.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 16.7GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: yinhe +codebase_version: v2.1 +statistics: + total_episodes: 969 + total_frames: 992823 + total_tasks: 1 + total_videos: 2907 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:968 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: take steamed baozi put them in steamer then cover it. +sub_tasks: +- Grasp the pot lid with left gripper +- Abnormal +- Place the pot lid on the steamer with left gripper +- End +- Place the baozi on the steamer with right gripper +- Grasp the baozi in the plate with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + resolution: + - 368 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + resolution: + - 368 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm +action_space: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Galbot_g1_steamer_storage_baozi_d_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 503 + dataset_name: steamer_storage_baozi_d + dataset_uuid: 6476bc25-2a08-4c26-98c9-e84875c9b667 + device_model: Galbot_G1 + end_effector_type: two_finger_gripper + operation_platform_height: 0.0 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/银河通用/steamer_storage_baozi_a004/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Galbot_g1_steamer_storage_baozi_d + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: baozi + level1: food + level2: baozi + level3: null + level4: null + level5: null + - object_name: steamer + level1: cookware + level2: steamer + level3: null + level4: null + level5: null + - object_name: pot_lid + level1: daily_necessities + level2: pot_lid + level3: null + level4: null + level5: null + - object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null + total_episodes: 1000 + yaml: {} + meta: + robot_type: yinhe + codebase_version: v2.1 + statistics: + total_episodes: 969 + total_frames: 992823 + total_tasks: 1 + total_videos: 2907 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:968 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Galbot_g1_steamer_storage_baozi_e.yaml b/dataset_info/Galbot_g1_steamer_storage_baozi_e.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b997322159e584ad6773a7375a7845e81c4dd26e --- /dev/null +++ b/dataset_info/Galbot_g1_steamer_storage_baozi_e.yaml @@ -0,0 +1,933 @@ +dataset_name: steamer_storage_baozi_e +dataset_uuid: c1e9fbc2-7775-4cc2-9a8c-d4c58aca210a +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: baozi + level1: food + level2: baozi + level3: null + level4: null + level5: null +- object_name: steamer + level1: cookware + level2: steamer + level3: null + level4: null + level5: null +- object_name: pot_lid + level1: daily_necessities + level2: pot_lid + level3: null + level4: null + level5: null +- object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null +path: Galbot_g1_steamer_storage_baozi_e +video_url: ./assets/videos/Galbot_g1_steamer_storage_baozi_e.mp4 +thumbnail_url: ./assets/thumbnails/Galbot_g1_steamer_storage_baozi_e.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 11.2GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: yinhe +codebase_version: v2.1 +statistics: + total_episodes: 607 + total_frames: 627792 + total_tasks: 1 + total_videos: 1821 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:606 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: take steamed baozi put them in steamer then cover it. +sub_tasks: +- Grasp the pot lid with left gripper +- Abnormal +- Place the pot lid on the steamer with left gripper +- End +- Place the baozi on the steamer with right gripper +- Grasp the baozi in the plate with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + resolution: + - 368 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + resolution: + - 368 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm +action_space: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Galbot_g1_steamer_storage_baozi_e_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 504 + dataset_name: steamer_storage_baozi_e + dataset_uuid: c1e9fbc2-7775-4cc2-9a8c-d4c58aca210a + device_model: Galbot_G1 + end_effector_type: two_finger_gripper + operation_platform_height: 0.0 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/银河通用/steamer_storage_baozi_a005/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Galbot_g1_steamer_storage_baozi_e + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: baozi + level1: food + level2: baozi + level3: null + level4: null + level5: null + - object_name: steamer + level1: cookware + level2: steamer + level3: null + level4: null + level5: null + - object_name: pot_lid + level1: daily_necessities + level2: pot_lid + level3: null + level4: null + level5: null + - object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null + total_episodes: null + yaml: {} + meta: + robot_type: yinhe + codebase_version: v2.1 + statistics: + total_episodes: 607 + total_frames: 627792 + total_tasks: 1 + total_videos: 1821 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:606 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Galbot_g1_steamer_storage_baozi_f.yaml b/dataset_info/Galbot_g1_steamer_storage_baozi_f.yaml new file mode 100644 index 0000000000000000000000000000000000000000..255d58d7a98c6cab09a982992ecdbb836babd18f --- /dev/null +++ b/dataset_info/Galbot_g1_steamer_storage_baozi_f.yaml @@ -0,0 +1,932 @@ +dataset_name: steamer_storage_baozi_f +dataset_uuid: 1e21db73-d466-45c1-8126-027d96c93953 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: baozi + level1: food + level2: baozi + level3: null + level4: null + level5: null +- object_name: steamer + level1: cookware + level2: steamer + level3: null + level4: null + level5: null +- object_name: pot_lid + level1: daily_necessities + level2: pot_lid + level3: null + level4: null + level5: null +- object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null +path: Galbot_g1_steamer_storage_baozi_f +video_url: ./assets/videos/Galbot_g1_steamer_storage_baozi_f.mp4 +thumbnail_url: ./assets/thumbnails/Galbot_g1_steamer_storage_baozi_f.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 2.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: yinhe +codebase_version: v2.1 +statistics: + total_episodes: 96 + total_frames: 101540 + total_tasks: 1 + total_videos: 288 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:95 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: take steamed baozi put them in steamer then cover it. +sub_tasks: +- Grasp the pot lid with left gripper +- Place the pot lid on the steamer with left gripper +- End +- Place the baozi on the steamer with right gripper +- Grasp the baozi in the plate with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + resolution: + - 368 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + resolution: + - 368 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm +action_space: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Galbot_g1_steamer_storage_baozi_f_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 506 + dataset_name: steamer_storage_baozi_f + dataset_uuid: 1e21db73-d466-45c1-8126-027d96c93953 + device_model: Galbot_G1 + end_effector_type: two_finger_gripper + operation_platform_height: 0.0 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/银河通用/steamer_storage_baozi_a006/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Galbot_g1_steamer_storage_baozi_f + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: baozi + level1: food + level2: baozi + level3: null + level4: null + level5: null + - object_name: steamer + level1: cookware + level2: steamer + level3: null + level4: null + level5: null + - object_name: pot_lid + level1: daily_necessities + level2: pot_lid + level3: null + level4: null + level5: null + - object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null + total_episodes: null + yaml: {} + meta: + robot_type: yinhe + codebase_version: v2.1 + statistics: + total_episodes: 96 + total_frames: 101540 + total_tasks: 1 + total_videos: 288 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:95 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Galbot_g1_steamer_storage_baozi_g.yaml b/dataset_info/Galbot_g1_steamer_storage_baozi_g.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9b9629b94c566e0562f566de36f791eaa6efcb4e --- /dev/null +++ b/dataset_info/Galbot_g1_steamer_storage_baozi_g.yaml @@ -0,0 +1,932 @@ +dataset_name: steamer_storage_baozi_g +dataset_uuid: fc0c05a2-5b0d-4aa4-9329-eb16047d2f03 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: baozi + level1: food + level2: baozi + level3: null + level4: null + level5: null +- object_name: steamer + level1: cookware + level2: steamer + level3: null + level4: null + level5: null +- object_name: pot_lid + level1: daily_necessities + level2: pot_lid + level3: null + level4: null + level5: null +- object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null +path: Galbot_g1_steamer_storage_baozi_g +video_url: ./assets/videos/Galbot_g1_steamer_storage_baozi_g.mp4 +thumbnail_url: ./assets/thumbnails/Galbot_g1_steamer_storage_baozi_g.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 1.6GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: yinhe +codebase_version: v2.1 +statistics: + total_episodes: 89 + total_frames: 87860 + total_tasks: 1 + total_videos: 267 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:88 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: take steamed baozi put them in steamer then cover it. +sub_tasks: +- Grasp the pot lid with left gripper +- Place the pot lid on the steamer with left gripper +- End +- Place the baozi on the steamer with right gripper +- Grasp the baozi in the plate with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + resolution: + - 368 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + resolution: + - 368 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm +action_space: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Galbot_g1_steamer_storage_baozi_g_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 508 + dataset_name: steamer_storage_baozi_g + dataset_uuid: fc0c05a2-5b0d-4aa4-9329-eb16047d2f03 + device_model: Galbot_G1 + end_effector_type: two_finger_gripper + operation_platform_height: 0.0 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/银河通用/steamer_storage_baozi_a007/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Galbot_g1_steamer_storage_baozi_g + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: baozi + level1: food + level2: baozi + level3: null + level4: null + level5: null + - object_name: steamer + level1: cookware + level2: steamer + level3: null + level4: null + level5: null + - object_name: pot_lid + level1: daily_necessities + level2: pot_lid + level3: null + level4: null + level5: null + - object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null + total_episodes: null + yaml: {} + meta: + robot_type: yinhe + codebase_version: v2.1 + statistics: + total_episodes: 89 + total_frames: 87860 + total_tasks: 1 + total_videos: 267 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:88 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Galbot_g1_steamer_storage_baozi_h.yaml b/dataset_info/Galbot_g1_steamer_storage_baozi_h.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5be06a05049c9ad7feda3834207b48e3c6ad25b0 --- /dev/null +++ b/dataset_info/Galbot_g1_steamer_storage_baozi_h.yaml @@ -0,0 +1,932 @@ +dataset_name: steamer_storage_baozi_h +dataset_uuid: 23188104-2751-4169-b13b-286381a44645 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: baozi + level1: food + level2: baozi + level3: null + level4: null + level5: null +- object_name: steamer + level1: cookware + level2: steamer + level3: null + level4: null + level5: null +- object_name: pot_lid + level1: daily_necessities + level2: pot_lid + level3: null + level4: null + level5: null +- object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null +path: Galbot_g1_steamer_storage_baozi_h +video_url: ./assets/videos/Galbot_g1_steamer_storage_baozi_h.mp4 +thumbnail_url: ./assets/thumbnails/Galbot_g1_steamer_storage_baozi_h.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 18.2GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: yinhe +codebase_version: v2.1 +statistics: + total_episodes: 996 + total_frames: 979757 + total_tasks: 1 + total_videos: 2988 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:995 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: take steamed baozi put them in steamer then cover it. +sub_tasks: +- End +- Place the baozi on the steamer with right gripper +- Place the pot lid on the steamer with left gripper +- Grasp the pot lid with left gripper +- Grasp the baozi in the plate with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + resolution: + - 368 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + resolution: + - 368 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm +action_space: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Galbot_g1_steamer_storage_baozi_h_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 505 + dataset_name: steamer_storage_baozi_h + dataset_uuid: 23188104-2751-4169-b13b-286381a44645 + device_model: Galbot_G1 + end_effector_type: two_finger_gripper + operation_platform_height: 0.0 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/银河通用/steamer_storage_baozi_a008/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Galbot_g1_steamer_storage_baozi_h + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: baozi + level1: food + level2: baozi + level3: null + level4: null + level5: null + - object_name: steamer + level1: cookware + level2: steamer + level3: null + level4: null + level5: null + - object_name: pot_lid + level1: daily_necessities + level2: pot_lid + level3: null + level4: null + level5: null + - object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null + total_episodes: null + yaml: {} + meta: + robot_type: yinhe + codebase_version: v2.1 + statistics: + total_episodes: 996 + total_frames: 979757 + total_tasks: 1 + total_videos: 2988 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:995 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Galbot_g1_steamer_storage_baozi_i.yaml b/dataset_info/Galbot_g1_steamer_storage_baozi_i.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4764b5b3d3329afc2b3b12e4bcb9946a26aa3ec5 --- /dev/null +++ b/dataset_info/Galbot_g1_steamer_storage_baozi_i.yaml @@ -0,0 +1,932 @@ +dataset_name: steamer_storage_baozi_i +dataset_uuid: 297d5a36-b520-4bf8-b733-99252b14cb64 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: baozi + level1: food + level2: baozi + level3: null + level4: null + level5: null +- object_name: steamer + level1: cookware + level2: steamer + level3: null + level4: null + level5: null +- object_name: pot_lid + level1: daily_necessities + level2: pot_lid + level3: null + level4: null + level5: null +- object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null +path: Galbot_g1_steamer_storage_baozi_i +video_url: ./assets/videos/Galbot_g1_steamer_storage_baozi_i.mp4 +thumbnail_url: ./assets/thumbnails/Galbot_g1_steamer_storage_baozi_i.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 558.3MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: yinhe +codebase_version: v2.1 +statistics: + total_episodes: 32 + total_frames: 30158 + total_tasks: 1 + total_videos: 96 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:31 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: take steamed baozi put them in steamer then cover it. +sub_tasks: +- Grasp the pot lid with left gripper +- Place the pot lid on the steamer with left gripper +- End +- Place the baozi on the steamer with right gripper +- Grasp the baozi in the plate with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + resolution: + - 368 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + resolution: + - 368 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm +action_space: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Galbot_g1_steamer_storage_baozi_i_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 507 + dataset_name: steamer_storage_baozi_i + dataset_uuid: 297d5a36-b520-4bf8-b733-99252b14cb64 + device_model: Galbot_G1 + end_effector_type: two_finger_gripper + operation_platform_height: 0.0 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/银河通用/steamer_storage_baozi_a009/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Galbot_g1_steamer_storage_baozi_i + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: baozi + level1: food + level2: baozi + level3: null + level4: null + level5: null + - object_name: steamer + level1: cookware + level2: steamer + level3: null + level4: null + level5: null + - object_name: pot_lid + level1: daily_necessities + level2: pot_lid + level3: null + level4: null + level5: null + - object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null + total_episodes: null + yaml: {} + meta: + robot_type: yinhe + codebase_version: v2.1 + statistics: + total_episodes: 32 + total_frames: 30158 + total_tasks: 1 + total_videos: 96 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:31 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Galbot_g1_steamer_storage_baozi_j.yaml b/dataset_info/Galbot_g1_steamer_storage_baozi_j.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4af113c8407e19d7daaff354d53e6fd1f9d54cee --- /dev/null +++ b/dataset_info/Galbot_g1_steamer_storage_baozi_j.yaml @@ -0,0 +1,937 @@ +dataset_name: steamer_storage_baozi_j +dataset_uuid: b53dc50b-2b01-4783-900a-e0a8fa876a20 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: baozi + level1: food + level2: baozi + level3: null + level4: null + level5: null +- object_name: steamer + level1: cookware + level2: steamer + level3: null + level4: null + level5: null +- object_name: pot_lid + level1: daily_necessities + level2: pot_lid + level3: null + level4: null + level5: null +- object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null +path: Galbot_g1_steamer_storage_baozi_j +video_url: ./assets/videos/Galbot_g1_steamer_storage_baozi_j.mp4 +thumbnail_url: ./assets/thumbnails/Galbot_g1_steamer_storage_baozi_j.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 1.1GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: yinhe +codebase_version: v2.1 +statistics: + total_episodes: 41 + total_frames: 56015 + total_tasks: 1 + total_videos: 123 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:40 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: take steamed baozi put them in steamer then cover it. +sub_tasks: +- Place the pot lid on the table with left gripper +- Grasp the pot lid with left gripper +- Place the pot lid on the steamer with left gripper +- End +- Move the switch to the right with left gripper +- Place the baozi on the steamer with right gripper +- Grasp the baozi with right gripper +- Place the baozi on the plate with right gripper +- Move the switch to the left with right gripper +- Grasp the baozi in the plate with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + resolution: + - 368 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + resolution: + - 368 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm +action_space: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Galbot_g1_steamer_storage_baozi_j_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 509 + dataset_name: steamer_storage_baozi_j + dataset_uuid: b53dc50b-2b01-4783-900a-e0a8fa876a20 + device_model: Galbot_G1 + end_effector_type: two_finger_gripper + operation_platform_height: 0.0 + yaml_file_path: /mnt/nas/synnas/docker/外部数据/银河通用/steamer_storage_baozi_a010/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Galbot_g1_steamer_storage_baozi_j + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: baozi + level1: food + level2: baozi + level3: null + level4: null + level5: null + - object_name: steamer + level1: cookware + level2: steamer + level3: null + level4: null + level5: null + - object_name: pot_lid + level1: daily_necessities + level2: pot_lid + level3: null + level4: null + level5: null + - object_name: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null + total_episodes: null + yaml: {} + meta: + robot_type: yinhe + codebase_version: v2.1 + statistics: + total_episodes: 41 + total_frames: 56015 + total_tasks: 1 + total_videos: 123 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:40 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 49 + names: + - body_joint_1_rad + - body_joint_2_rad + - body_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_boil_water_in_a_kettle.yaml b/dataset_info/R1_Lite_boil_water_in_a_kettle.yaml new file mode 100644 index 0000000000000000000000000000000000000000..50e5e412eefe4e5a8a08b2e0bcf7ab441e06b22b --- /dev/null +++ b/dataset_info/R1_Lite_boil_water_in_a_kettle.yaml @@ -0,0 +1,822 @@ +dataset_name: boil_water_in_a_kettle +dataset_uuid: 68764373-ee5e-45aa-ad8a-1ca6cf3e0834 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: stove_top + level1: furniture + level2: stove_top + level3: null + level4: null + level5: null +- object_name: boil_the_kettle + level1: electric_appliance + level2: boil_the_kettle + level3: null + level4: null + level5: null +- object_name: heating_plate + level1: electric_appliance + level2: heating_plate + level3: null + level4: null + level5: null +- object_name: sink + level1: container + level2: sink + level3: null + level4: null + level5: null +path: R1_Lite_boil_water_in_a_kettle +video_url: ./assets/videos/R1_Lite_boil_water_in_a_kettle.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_boil_water_in_a_kettle.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 3.9GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 75 + total_frames: 85792 + total_tasks: 1 + total_videos: 225 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:74 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: place kettle on heating plate heat then set beside sink. +sub_tasks: +- Start boiling water +- Place it on the power base +- Finish boiling water +- abnormal +- Place it by the sink +- Pick up the kettle +- Grab the kettle +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_boil_water_in_a_kettle_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 426 + dataset_name: boil_water_in_a_kettle + dataset_uuid: 68764373-ee5e-45aa-ad8a-1ca6cf3e0834 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/boil_water/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_boil_water_in_a_kettle + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: boil_water_in_a_kettle + dataset_uuid: null + task_descriptions: + - place kettle on heating plate heat then set beside sink. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: stove_top + level1: furniture + level2: stove_top + level3: null + level4: null + level5: null + - object_name: boil_the_kettle + level1: electric_appliance + level2: boil_the_kettle + level3: null + level4: null + level5: null + - object_name: heating_plate + level1: electric_appliance + level2: heating_plate + level3: null + level4: null + level5: null + - object_name: sink + level1: container + level2: sink + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 75 + total_frames: 85792 + total_tasks: 1 + total_videos: 225 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:74 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_build_blocks.yaml b/dataset_info/R1_Lite_build_blocks.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aa62581163be50046807d7ec2bd45879a4f965b6 --- /dev/null +++ b/dataset_info/R1_Lite_build_blocks.yaml @@ -0,0 +1,877 @@ +dataset_name: build_blocks +dataset_uuid: a56eff90-9eaa-4804-91c6-27e733d07c46 +scene_type: +- home +- living_room +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: blocks + level1: toy + level2: blocks + level3: null + level4: null + level5: null +path: R1_Lite_build_blocks +video_url: ./assets/videos/R1_Lite_build_blocks.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_build_blocks.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 1.8GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 66 + total_frames: 59296 + total_tasks: 1 + total_videos: 264 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:65 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: place the arched building blocks in the center of the table, set up the rectangular + building blocks, and then set up the triangular building blocks. +sub_tasks: +- Place the arch-shaped block in the center of view with the left gripper +- Grasp the arch-shaped block with the left gripper +- Place the triangle-shaped block onto the box-shaped block with the left grippe +- Grasp the box-shaped block with the right gripper +- Place the box-shaped block onto the arch-shaped block with the right gripper +- Static +- End +- Grasp the triangle-shaped block with the left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_left_rgb + name: cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_rgb + name: cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +action_space: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_build_blocks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 17 + dataset_name: build_blocks + dataset_uuid: a56eff90-9eaa-4804-91c6-27e733d07c46 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/build_blocks/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_build_blocks + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: build_blocks + dataset_uuid: null + task_descriptions: + - place the arched building blocks in the center of the table, set up the rectangular + building blocks, and then set up the triangular building blocks. + scene_type: + - home + - living_room + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: blocks + level1: toy + level2: blocks + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 66 + total_frames: 59296 + total_tasks: 1 + total_videos: 264 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:65 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_catch_the_water.yaml b/dataset_info/R1_Lite_catch_the_water.yaml new file mode 100644 index 0000000000000000000000000000000000000000..29df8f78f3f5b22892f7c968538e3d26d0e99f61 --- /dev/null +++ b/dataset_info/R1_Lite_catch_the_water.yaml @@ -0,0 +1,814 @@ +dataset_name: catch_the_water +dataset_uuid: 071ba9f6-2258-439b-82bd-6fec0968ae25 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +- open +- close +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: water_dispenser + level1: container + level2: water_dispenser + level3: null + level4: null + level5: null +- object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null +path: R1_Lite_catch_the_water +video_url: ./assets/videos/R1_Lite_catch_the_water.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_catch_the_water.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 5.6GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 148 + total_frames: 133503 + total_tasks: 1 + total_videos: 444 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:147 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: fill cup with faucet water then turn off and place on table. +sub_tasks: +- Place the cup next to the water dispenser +- abnormal +- Pick up the cup +- Turn off the faucet +- Place it under the water dispenser +- Turn on the faucet +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_catch_the_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 412 + dataset_name: catch_the_water + dataset_uuid: 071ba9f6-2258-439b-82bd-6fec0968ae25 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/collect_juice/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_catch_the_water + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: catch_the_water + dataset_uuid: null + task_descriptions: + - pick up the cup from the table and place it in the drain. turn on the faucet + and fill it with water. turn off the faucet and put the cup back in its original + position. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + - open + - close + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: water_dispenser + level1: container + level2: water_dispenser + level3: null + level4: null + level5: null + - object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 148 + total_frames: 133503 + total_tasks: 1 + total_videos: 444 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:147 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_clean_the_floor.yaml b/dataset_info/R1_Lite_clean_the_floor.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4ae15353782147ae112dbff36655d32c27ac534c --- /dev/null +++ b/dataset_info/R1_Lite_clean_the_floor.yaml @@ -0,0 +1,824 @@ +dataset_name: clean_the_floor +dataset_uuid: e5bd0025-b766-49f0-b99d-9321e477b362 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +- wipe +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: floor + level1: home_building_materials + level2: floor + level3: null + level4: null + level5: null +- object_name: rag + level1: fabric + level2: rag + level3: null + level4: null + level5: null +- object_name: carpet + level1: fabric + level2: carpet + level3: null + level4: null + level5: null +- object_name: foam_cleaning_net + level1: cleaning_supplies + level2: foam_cleaning_net + level3: null + level4: null + level5: null +path: R1_Lite_clean_the_floor +video_url: ./assets/videos/R1_Lite_clean_the_floor.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_clean_the_floor.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 10.1GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 87 + total_frames: 159495 + total_tasks: 1 + total_videos: 261 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:86 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: wipe floor under carpet with rag then place foam net on floor. +sub_tasks: +- abnormal +- Put down the rag +- Pick up the foam protection net +- Lift up the carpet +- Place the foam protection net on the floor +- Wipe the floor under the carpet with a rag +- Pick up the rag +- Lay down the carpet +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_clean_the_floor_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 410 + dataset_name: clean_the_floor + dataset_uuid: e5bd0025-b766-49f0-b99d-9321e477b362 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/lift_up_the_carpet_and_wipe_the_floor/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_clean_the_floor + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: clean_the_floor + dataset_uuid: null + task_descriptions: + - wipe floor under carpet with rag then place the cloth on the ground. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + - wipe + objects: + - object_name: floor + level1: home_building_materials + level2: floor + level3: null + level4: null + level5: null + - object_name: rag + level1: fabric + level2: rag + level3: null + level4: null + level5: null + - object_name: carpet + level1: fabric + level2: carpet + level3: null + level4: null + level5: null + - object_name: foam_cleaning_net + level1: cleaning_supplies + level2: foam_cleaning_net + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 87 + total_frames: 159495 + total_tasks: 1 + total_videos: 261 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:86 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_clean_the_sink.yaml b/dataset_info/R1_Lite_clean_the_sink.yaml new file mode 100644 index 0000000000000000000000000000000000000000..be5a0b24a279c5cf58c431cf16203b7df2999060 --- /dev/null +++ b/dataset_info/R1_Lite_clean_the_sink.yaml @@ -0,0 +1,813 @@ +dataset_name: clean_the_sink +dataset_uuid: d29e439c-d1a9-41e5-ab2b-e264195dda27 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +- open +- wipe +- close +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: washbasin + level1: container + level2: washbasin + level3: null + level4: null + level5: null +- object_name: faucet + level1: tool + level2: faucet + level3: null + level4: null + level5: null +- object_name: rag + level1: clothing + level2: rag + level3: null + level4: null + level5: null +path: R1_Lite_clean_the_sink +video_url: ./assets/videos/R1_Lite_clean_the_sink.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_clean_the_sink.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 3.8GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 120 + total_frames: 104391 + total_tasks: 1 + total_videos: 360 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:119 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: turn on faucet off wipe washbasin place rag beside it. +sub_tasks: +- Pick up the cloth +- Turn on the faucet +- Wipe the sink +- Turn off the faucet +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_clean_the_sink_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 420 + dataset_name: clean_the_sink + dataset_uuid: d29e439c-d1a9-41e5-ab2b-e264195dda27 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/clean_the_sink/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_clean_the_sink + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: clean_the_sink + dataset_uuid: null + task_descriptions: + - turn on the faucet, turn off the faucet, wipe the washbasin clean, and place + a cloth next to it.. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + - open + - wipe + - close + objects: + - object_name: washbasin + level1: container + level2: washbasin + level3: null + level4: null + level5: null + - object_name: faucet + level1: tool + level2: faucet + level3: null + level4: null + level5: null + - object_name: rag + level1: clothing + level2: rag + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 120 + total_frames: 104391 + total_tasks: 1 + total_videos: 360 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:119 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_clean_toilet.yaml b/dataset_info/R1_Lite_clean_toilet.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6b80b74f0043dc72a5d3a0be1f7f4828108220a0 --- /dev/null +++ b/dataset_info/R1_Lite_clean_toilet.yaml @@ -0,0 +1,831 @@ +dataset_name: clean_toilet +dataset_uuid: 5a0c1792-b168-4b12-ab0b-1cdb826fce18 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +- close +- open +- press +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: toilet + level1: sanitary_ware + level2: toilet + level3: null + level4: null + level5: null +- object_name: toilet_brush + level1: tool + level2: toilet_brush + level3: null + level4: null + level5: null +- object_name: toilet_brush_base + level1: tool + level2: toilet_brush_base + level3: null + level4: null + level5: null +- object_name: toilet_cleaner + level1: daily_necessities + level2: toilet_cleaner + level3: null + level4: null + level5: null +path: R1_Lite_clean_toilet +video_url: ./assets/videos/R1_Lite_clean_toilet.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_clean_toilet.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 11.8GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 99 + total_frames: 264408 + total_tasks: 1 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:98 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: pour toilet cleaner brush toilet flush then close lid. +sub_tasks: +- Use the left hand to lift the toilet lid slightly +- Pour in the cleaning agent +- End +- Flush the toilet +- Place the cleaning agent on the floor +- Put the toilet brush back +- Close the toilet lid +- Abnormal +- Open the toilet lid +- Scrub the toilet bowl +- Use the right hand to fully open the toilet lid +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_clean_toilet_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 414 + dataset_name: clean_toilet + dataset_uuid: 5a0c1792-b168-4b12-ab0b-1cdb826fce18 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/clean_toilet/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_clean_toilet + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: clean_toilet + dataset_uuid: null + task_descriptions: + - open the toilet seat pour toilet cleaner brush toilet flush then close lid. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + - close + - open + - press + objects: + - object_name: toilet + level1: sanitary_ware + level2: toilet + level3: null + level4: null + level5: null + - object_name: toilet_brush + level1: tool + level2: toilet_brush + level3: null + level4: null + level5: null + - object_name: toilet_brush_base + level1: tool + level2: toilet_brush_base + level3: null + level4: null + level5: null + - object_name: toilet_cleaner + level1: daily_necessities + level2: toilet_cleaner + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 99 + total_frames: 264408 + total_tasks: 1 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:98 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_connect_the_router_cable.yaml b/dataset_info/R1_Lite_connect_the_router_cable.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9104e459c835f607afdb211c95bd7995f20c877a --- /dev/null +++ b/dataset_info/R1_Lite_connect_the_router_cable.yaml @@ -0,0 +1,855 @@ +dataset_name: connect_the_router_cable +dataset_uuid: 2802db0f-0c22-4fba-b305-aae14b28e492 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +- insert +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: router + level1: electric_appliance + level2: router + level3: null + level4: null + level5: null +- object_name: socket + level1: electric_appliance + level2: socket + level3: null + level4: null + level5: null +- object_name: cable + level1: electric_appliance + level2: cable + level3: null + level4: null + level5: null +- object_name: plug + level1: electric_appliance + level2: plug + level3: null + level4: null + level5: null +path: R1_Lite_connect_the_router_cable +video_url: ./assets/videos/R1_Lite_connect_the_router_cable.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_connect_the_router_cable.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 9.4GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 105 + total_frames: 165617 + total_tasks: 1 + total_videos: 315 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:104 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: insert plug into socket then connect cable to router interface. +sub_tasks: +- Hand it to the other hand +- Pick up plug +- Pick up the cable +- Close the lower drawer +- Place the iced tea in the fridge +- Open the upper fridge door +- Plug it into the socket +- End +- Place zucchini in the lower drawer +- Open the lower drawer +- Deliver it to the other hand +- Abnormal +- Plug plug into socket +- Open the plastic bag +- Place pear in the lower drawer +- Place the Wahaha in the fridge +- Pick up cable +- Close the middle refrigerator door +- Open the middle refrigerator door +- Place king oyster Mushroom in the lower drawer +- Plug cable into router interface +- Align cable and router interface +- Close the upper refrigerator door +- Align plug and socket +- Plug it into the receiver +- Pick up the plug +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_connect_the_router_cable_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 411 + dataset_name: connect_the_router_cable + dataset_uuid: 2802db0f-0c22-4fba-b305-aae14b28e492 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/connect_router_cables/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_connect_the_router_cable + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: connect_the_router_cable + dataset_uuid: null + task_descriptions: + - insert plug into socket then connect cable to router interface. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + - insert + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: router + level1: electric_appliance + level2: router + level3: null + level4: null + level5: null + - object_name: socket + level1: electric_appliance + level2: socket + level3: null + level4: null + level5: null + - object_name: cable + level1: electric_appliance + level2: cable + level3: null + level4: null + level5: null + - object_name: plug + level1: electric_appliance + level2: plug + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 105 + total_frames: 165617 + total_tasks: 1 + total_videos: 315 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:104 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_cook_a_meal.yaml b/dataset_info/R1_Lite_cook_a_meal.yaml new file mode 100644 index 0000000000000000000000000000000000000000..529cf5d1adc5fc6bc456df2def2f1a6c577a5e19 --- /dev/null +++ b/dataset_info/R1_Lite_cook_a_meal.yaml @@ -0,0 +1,872 @@ +dataset_name: cook_a_meal +dataset_uuid: e717e360-f72c-4b13-aa1f-f10657b9b68d +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +- open +- pressbutton +- close +- flip +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +- object_name: rice_cooker + level1: electric_appliance + level2: rice_cooker + level3: null + level4: null + level5: null +- object_name: rice + level1: food + level2: rice + level3: null + level4: null + level5: null +- object_name: tap + level1: tool + level2: tap + level3: null + level4: null + level5: null +- object_name: chopped_scallions + level1: food + level2: chopped_scallions + level3: null + level4: null + level5: null +- object_name: water + level1: drink + level2: water + level3: null + level4: null + level5: null +path: R1_Lite_cook_a_meal +video_url: ./assets/videos/R1_Lite_cook_a_meal.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_cook_a_meal.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 7.9GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 82 + total_frames: 161442 + total_tasks: 1 + total_videos: 246 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:81 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put rice water scallions into rice cooker press start button. +sub_tasks: +- Turn off the faucet with the right gripper +- Pour water into the rice cooker with the left gripper +- Grab the bowl with the right gripper +- Turn on the faucet with the left gripper +- Pour the rice from the bowl into the rice cooker +- Put the bowl on the table with the left gripper +- Open the rice cooker with the right gripper +- End +- Pour the water from the bowl into the rice cooker +- Grab the bowl with the left gripper +- Pick up the bowl on the table +- Abnormal +- Close the rice cooker +- Turn off the rice cooker with the both gripper +- Turn off the tap +- Place the bowl on the table +- Turn off the faucet with the left gripper +- Open the rice cooker +- Pour water into the rice cooker with the right gripper +- Turn on the tap +- Put the bowl under the faucet with the right gripper +- Press the start button +- Put the bowl under the faucet with the left gripper +- Put the bowl on the table with the right gripper +- Fill a bowl with water from the tap +- Pour the chopped green onions from the bowl into the rice cooker +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_cook_a_meal_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 407 + dataset_name: cook_a_meal + dataset_uuid: e717e360-f72c-4b13-aa1f-f10657b9b68d + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/cooking_rice_in_electric_rice_cooker/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_cook_a_meal + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: cook_a_meal + dataset_uuid: null + task_descriptions: + - put rice water scallions into rice cooker press start button. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + - open + - pressbutton + - close + - flip + objects: + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + - object_name: rice_cooker + level1: electric_appliance + level2: rice_cooker + level3: null + level4: null + level5: null + - object_name: rice + level1: food + level2: rice + level3: null + level4: null + level5: null + - object_name: tap + level1: tool + level2: tap + level3: null + level4: null + level5: null + - object_name: chopped_scallions + level1: food + level2: chopped_scallions + level3: null + level4: null + level5: null + - object_name: water + level1: drink + level2: water + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 82 + total_frames: 161442 + total_tasks: 1 + total_videos: 246 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:81 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_cover_the_pot_lid.yaml b/dataset_info/R1_Lite_cover_the_pot_lid.yaml new file mode 100644 index 0000000000000000000000000000000000000000..539b4ae6422f963f5e365bc7e6026ea3c841a582 --- /dev/null +++ b/dataset_info/R1_Lite_cover_the_pot_lid.yaml @@ -0,0 +1,792 @@ +dataset_name: cover_the_pot_lid +dataset_uuid: 41489668-9cf7-44d4-ba77-a691084c63fe +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: steamer_cage + level1: container + level2: steamer_cage + level3: null + level4: null + level5: null +- object_name: steamer_lid + level1: daily_necessities + level2: steamer_lid + level3: null + level4: null + level5: null +path: R1_Lite_cover_the_pot_lid +video_url: ./assets/videos/R1_Lite_cover_the_pot_lid.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_cover_the_pot_lid.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 4.1GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 100 + total_frames: 65358 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:99 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: pick up the lid of the steamer and place it on the steamer. +sub_tasks: +- Pick up the steamer +- Put the steamer +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_cover_the_pot_lid_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 399 + dataset_name: cover_the_pot_lid + dataset_uuid: 41489668-9cf7-44d4-ba77-a691084c63fe + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/lift_the_steamer_lid/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_cover_the_pot_lid + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: 101 + yaml: + dataset_name: cover_the_pot_lid + dataset_uuid: null + task_descriptions: + - pick up the lid of the steamer and place it on the steamer. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: steamer_cage + level1: container + level2: steamer_cage + level3: null + level4: null + level5: null + - object_name: steamer_lid + level1: daily_necessities + level2: steamer_lid + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 100 + total_frames: 65358 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:99 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_dispose_of_leftover_food.yaml b/dataset_info/R1_Lite_dispose_of_leftover_food.yaml new file mode 100644 index 0000000000000000000000000000000000000000..141162a260f6af640dae290bcb90ed65f490f973 --- /dev/null +++ b/dataset_info/R1_Lite_dispose_of_leftover_food.yaml @@ -0,0 +1,837 @@ +dataset_name: dispose_of_leftover_food +dataset_uuid: b7ae3dcc-5b70-445f-b473-3d83772d3b1b +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +- flip +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +- object_name: garbage_bin + level1: container + level2: garbage_bin + level3: null + level4: null + level5: null +- object_name: leftovers + level1: garbage + level2: leftovers + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +path: R1_Lite_dispose_of_leftover_food +video_url: ./assets/videos/R1_Lite_dispose_of_leftover_food.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_dispose_of_leftover_food.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 7.5GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 127 + total_frames: 135632 + total_tasks: 1 + total_videos: 381 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:126 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: pour leftovers from bowl or plate into trash can put back. +sub_tasks: +- Move the bowl over the trash can +- Pour the leftover food from the plate into the trash can +- Pour the leftover food from the bowl into the trash can +- Pick up the plate with leftover food +- Put the bowl back to the table +- Move the plate over the trash can +- Pick up the bowl with leftover food +- Put the plate back to the table +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_dispose_of_leftover_food_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 406 + dataset_name: dispose_of_leftover_food + dataset_uuid: b7ae3dcc-5b70-445f-b473-3d83772d3b1b + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/dispose_of_leftover_food/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_dispose_of_leftover_food + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: dispose_of_leftover_food + dataset_uuid: null + task_descriptions: + - pour leftovers from bowl or plate into trash can put back. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + - flip + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + - object_name: garbage_bin + level1: container + level2: garbage_bin + level3: null + level4: null + level5: null + - object_name: leftovers + level1: garbage + level2: leftovers + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 127 + total_frames: 135632 + total_tasks: 1 + total_videos: 381 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:126 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_drawer_storage_hair_dryer.yaml b/dataset_info/R1_Lite_drawer_storage_hair_dryer.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d997fa8a0612d352d41c9538a982d37e349c5e30 --- /dev/null +++ b/dataset_info/R1_Lite_drawer_storage_hair_dryer.yaml @@ -0,0 +1,815 @@ +dataset_name: drawer_storage_hair_dryer +dataset_uuid: 7ec2120b-9c60-40ef-901e-6526e5f7bae8 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +- push +- pull +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: drawer + level1: container + level2: drawer + level3: null + level4: null + level5: null +- object_name: hair_dryer + level1: electrical_appliances + level2: hair_dryer + level3: null + level4: null + level5: null +- object_name: washbasin + level1: furniture + level2: washbasin + level3: null + level4: null + level5: null +path: R1_Lite_drawer_storage_hair_dryer +video_url: ./assets/videos/R1_Lite_drawer_storage_hair_dryer.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_drawer_storage_hair_dryer.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 9.4GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 145 + total_frames: 206825 + total_tasks: 1 + total_videos: 435 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:144 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: Put the hair dryer into the drawer, then take it out of the drawer and place + it in its original place. +sub_tasks: +- abnormal +- Put it into the drawer +- Take the hairdryer out +- Close the drawer +- Place it on the countertop +- Pull open the drawer +- Pick up the hairdryer +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_drawer_storage_hair_dryer_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 421 + dataset_name: drawer_storage_hair_dryer + dataset_uuid: 7ec2120b-9c60-40ef-901e-6526e5f7bae8 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/use_the_drawer_to_store_the_hair_dryer/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_drawer_storage_hair_dryer + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: drawer_storage_hair_dryer + dataset_uuid: null + task_descriptions: + - put hair dryer from basin to drawer then back to basin. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + - push + - pull + objects: + - object_name: drawer + level1: container + level2: drawer + level3: null + level4: null + level5: null + - object_name: hair_dryer + level1: electrical_appliances + level2: hair_dryer + level3: null + level4: null + level5: null + - object_name: washbasin + level1: furniture + level2: washbasin + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 145 + total_frames: 206825 + total_tasks: 1 + total_videos: 435 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:144 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_fold_clothes.yaml b/dataset_info/R1_Lite_fold_clothes.yaml new file mode 100644 index 0000000000000000000000000000000000000000..16b62607cd26117ebc3f75fd24c7440be25b69ad --- /dev/null +++ b/dataset_info/R1_Lite_fold_clothes.yaml @@ -0,0 +1,818 @@ +dataset_name: fold_clothes +dataset_uuid: f4acf7a3-cf1f-4dbd-95da-0912a42be233 +scene_type: +- home +atomic_actions: +- grasp +- fold +- unfold +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: bed + level1: furniture + level2: bed + level3: null + level4: null + level5: null +- object_name: bed_sheet + level1: fabric + level2: bed_sheet + level3: null + level4: null + level5: null +- object_name: clothes + level1: fabric + level2: clothes + level3: null + level4: null + level5: null +path: R1_Lite_fold_clothes +video_url: ./assets/videos/R1_Lite_fold_clothes.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_fold_clothes.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 17.4GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 111 + total_frames: 283265 + total_tasks: 1 + total_videos: 333 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:110 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: fold t shirt shorts sweatshirt on bed then unfold them. +sub_tasks: +- Unford the yellow T-shirt +- Unford the blue shorts +- Fold the brown shorts +- Unford the black T-shirt +- Unfold the black sweatshirt +- Fold the black T-shirt +- Unford the red T-shirt +- End +- abnormal +- Unford the brown shorts +- Fold the white T-shirt +- Unford the white T-shirt +- Fold the yellow T-shirt +- Fold the blue shorts +- Fold the red T-shirt +- Fold the black sweatshirt +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_fold_clothes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 419 + dataset_name: fold_clothes + dataset_uuid: f4acf7a3-cf1f-4dbd-95da-0912a42be233 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/fold_clothes/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_fold_clothes + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: fold_clothes + dataset_uuid: null + task_descriptions: + - fold t shirt shorts sweatshirt on bed then unfold them. + scene_type: + - home + atomic_actions: + - grasp + - fold + - unfold + objects: + - object_name: bed + level1: furniture + level2: bed + level3: null + level4: null + level5: null + - object_name: bed_sheet + level1: fabric + level2: bed_sheet + level3: null + level4: null + level5: null + - object_name: clothes + level1: fabric + level2: clothes + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 111 + total_frames: 283265 + total_tasks: 1 + total_videos: 333 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:110 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_garbage_disposal.yaml b/dataset_info/R1_Lite_garbage_disposal.yaml new file mode 100644 index 0000000000000000000000000000000000000000..57953fde170daac5511b8e30f5fcaf8814dfc184 --- /dev/null +++ b/dataset_info/R1_Lite_garbage_disposal.yaml @@ -0,0 +1,806 @@ +dataset_name: garbage_disposal +dataset_uuid: 3c93f53a-ad7f-446d-ab74-686039cffcdf +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: garbage + level1: garbage + level2: garbage + level3: null + level4: null + level5: null +- object_name: trash_can + level1: container + level2: trash_can + level3: null + level4: null + level5: null +path: R1_Lite_garbage_disposal +video_url: ./assets/videos/R1_Lite_garbage_disposal.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_garbage_disposal.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 3.7GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 81 + total_frames: 70054 + total_tasks: 1 + total_videos: 243 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:80 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: pick up garbage from table and throw into trash can. +sub_tasks: +- Pick up the garbage +- abnromal +- Put the garbage in the trash can +- Hand it to the other hand +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_garbage_disposal_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 408 + dataset_name: garbage_disposal + dataset_uuid: 3c93f53a-ad7f-446d-ab74-686039cffcdf + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/dispose_of_garbage_in_the_trash_can/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_garbage_disposal + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: garbage_disposal + dataset_uuid: null + task_descriptions: + - pick up garbage from table and throw into trash can. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: garbage + level1: garbage + level2: garbage + level3: null + level4: null + level5: null + - object_name: trash_can + level1: container + level2: trash_can + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 81 + total_frames: 70054 + total_tasks: 1 + total_videos: 243 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:80 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_hang_clothes.yaml b/dataset_info/R1_Lite_hang_clothes.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3ead936ecd8fa4626f750927a7b86c09cf965703 --- /dev/null +++ b/dataset_info/R1_Lite_hang_clothes.yaml @@ -0,0 +1,828 @@ +dataset_name: hang_clothes +dataset_uuid: f7bbf41d-af0d-4f31-9158-8e7987fb7c9f +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: clothesline + level1: tool + level2: clothesline + level3: null + level4: null + level5: null +- object_name: clothes_hanger + level1: daily_necessities + level2: clothes_hanger + level3: null + level4: null + level5: null +- object_name: clothes + level1: fabric + level2: clothes + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +path: R1_Lite_hang_clothes +video_url: ./assets/videos/R1_Lite_hang_clothes.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_hang_clothes.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 22.8GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 109 + total_frames: 289827 + total_tasks: 1 + total_videos: 327 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:108 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: hang basket clothes on hanger then take off put back. +sub_tasks: +- Pick up the clothes rack on the clothesline with the right gripper +- Hang the clothes rack on the clothesline with the right gripper +- Take the clothes off the clothes rack with the right gripper +- End +- Hang the clothes on the clothes rack +- Put clothes in the basket with the left gripper +- Pick up the clothes rack on the clothesline +- Hang the clothes rack on the clothesline +- Pick up clothes from the basket +- Take the clothes off the clothes rack +- Hang the clothes on the clothes rack with both grippers +- Pick up clothes from the basket with the left gripper +- abnormal +- Put clothes in the basket +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_hang_clothes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 403 + dataset_name: hang_clothes + dataset_uuid: f7bbf41d-af0d-4f31-9158-8e7987fb7c9f + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/hang_clothes/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_hang_clothes + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: 110 + yaml: + dataset_name: hang_clothes + dataset_uuid: null + task_descriptions: + - hang basket clothes on hanger then take off put back. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: clothesline + level1: tool + level2: clothesline + level3: null + level4: null + level5: null + - object_name: clothes_hanger + level1: daily_necessities + level2: clothes_hanger + level3: null + level4: null + level5: null + - object_name: clothes + level1: fabric + level2: clothes + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 109 + total_frames: 289827 + total_tasks: 1 + total_videos: 327 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:108 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_make_a_landline_call.yaml b/dataset_info/R1_Lite_make_a_landline_call.yaml new file mode 100644 index 0000000000000000000000000000000000000000..136a0e520b8e4c0a7e8e63f8480e3fecaa26938c --- /dev/null +++ b/dataset_info/R1_Lite_make_a_landline_call.yaml @@ -0,0 +1,795 @@ +dataset_name: make_a_landline_call +dataset_uuid: 0fc5b260-c949-49ab-8963-c0869de35749 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: furnitureixed_line_telephone + level1: communication_equipment + level2: furnitureixed_line_telephone + level3: null + level4: null + level5: null +path: R1_Lite_make_a_landline_call +video_url: ./assets/videos/R1_Lite_make_a_landline_call.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_make_a_landline_call.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 5.9GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 115 + total_frames: 86262 + total_tasks: 1 + total_videos: 345 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:114 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: lift phone handle dial number then replace to end call. +sub_tasks: +- Pick up the desk phone handset +- End the call using the dial pad +- Put the handset back +- Dial the number +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_make_a_landline_call_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 425 + dataset_name: make_a_landline_call + dataset_uuid: 0fc5b260-c949-49ab-8963-c0869de35749 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/ring_the_landline/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_make_a_landline_call + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: make_a_landline_call + dataset_uuid: null + task_descriptions: + - lift phone handle dial number then replace to end call. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: furnitureixed_line_telephone + level1: communication_equipment + level2: furnitureixed_line_telephone + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 115 + total_frames: 86262 + total_tasks: 1 + total_videos: 345 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:114 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_make_breakfast.yaml b/dataset_info/R1_Lite_make_breakfast.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9d0958a94b0d9da0d5e1c6729dbcfbc08afeab3f --- /dev/null +++ b/dataset_info/R1_Lite_make_breakfast.yaml @@ -0,0 +1,887 @@ +dataset_name: make_breakfast +dataset_uuid: 398b647f-5d05-4f3c-8367-2d7077c8c9fe +scene_type: +- home +- restaurant +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: bread + level1: food + level2: bread + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: eggs + level1: food + level2: eggs + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +- object_name: hot_water_bottle + level1: electric_appliance + level2: hot_water_bottle + level3: null + level4: null + level5: null +- object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null +- object_name: bread_machine + level1: electric_appliance + level2: bread_machine + level3: null + level4: null + level5: null +- object_name: fruit + level1: food + level2: fruir + level3: null + level4: null + level5: null +path: R1_Lite_make_breakfast +video_url: ./assets/videos/R1_Lite_make_breakfast.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_make_breakfast.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 6.2GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 45 + total_frames: 105680 + total_tasks: 1 + total_videos: 135 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:44 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: bake bread arrange fruits eggs pour water from thermos. +sub_tasks: +- Put the egg in the bowl +- Put the bread slices in the toaster +- Put the kettle back +- Pour water into a cup +- abnormal +- Put the baked bread on a plate +- Use a bread toaster +- Put the fruit on a plate +- Pick up the kettle +- Pick up the egg +- Pick up the bread slice +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_make_breakfast_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 397 + dataset_name: make_breakfast + dataset_uuid: 398b647f-5d05-4f3c-8367-2d7077c8c9fe + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/make_breakfast/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_make_breakfast + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: make_breakfast + dataset_uuid: null + task_descriptions: + - bake bread arrange eggs pour water from thermos. + scene_type: + - home + - restaurant + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: bread + level1: food + level2: bread + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: eggs + level1: food + level2: eggs + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + - object_name: hot_water_bottle + level1: electric_appliance + level2: hot_water_bottle + level3: null + level4: null + level5: null + - object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null + - object_name: bread_machine + level1: electric_appliance + level2: bread_machine + level3: null + level4: null + level5: null + - object_name: fruit + level1: food + level2: fruir + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 45 + total_frames: 105680 + total_tasks: 1 + total_videos: 135 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:44 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_make_tea.yaml b/dataset_info/R1_Lite_make_tea.yaml new file mode 100644 index 0000000000000000000000000000000000000000..199fd151c6a2c5ae0f9d4bb12c1cb5e345b59032 --- /dev/null +++ b/dataset_info/R1_Lite_make_tea.yaml @@ -0,0 +1,864 @@ +dataset_name: make_tea +dataset_uuid: e07d0a2b-e02d-4bb2-867b-bf0afb55e958 +scene_type: +- home +- restaurant +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: water + level1: drink + level2: water + level3: null + level4: null + level5: null +- object_name: tea_bag + level1: drink + level2: tea_bag + level3: null + level4: null + level5: null +- object_name: trash_bin + level1: container + level2: trash_bin + level3: null + level4: null + level5: null +- object_name: kettle + level1: electric_appliance + level2: kettle + level3: null + level4: null + level5: null +- object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null +path: R1_Lite_make_tea +video_url: ./assets/videos/R1_Lite_make_tea.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_make_tea.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 9.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 101 + total_frames: 162473 + total_tasks: 1 + total_videos: 303 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:100 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: pour kettle water into cup steep tea bag then discard it. +sub_tasks: +- Place the tea bag into the desktop trash can +- Place the tea bag into the desktop trash can with the left gripper +- Place the kettle on its original position with the left gripper +- Hand it to the other hand +- Pour the water from the kettle into the cup with the left gripper +- "Place the tea bag in and out of the cup several times with the left gripper \uFEFF" +- Grasp the tea bag with the right gripper +- Lift the tea bag in and out of the cup several times +- End +- Pick up the kettle +- Hand it to the other gripper +- Abnormal +- Pick up the tea bag +- Place the tea bag in and out of the cup several times with the right gripper +- Place the kettle to its original position +- Pick up the kettle with the left gripper +- Pick up the kettle with the right gripper +- Grasp the tea bag with the left gripper +- Pour water from the kettle into the cup +- Pour the water from the kettle into the cup with the right gripper +- Place the kettle on its original position with the right gripper +- Place the tea bag into the desktop trash can with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_make_tea_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 413 + dataset_name: make_tea + dataset_uuid: e07d0a2b-e02d-4bb2-867b-bf0afb55e958 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/make_tea/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_make_tea + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: make_tea + dataset_uuid: null + task_descriptions: + - Pick up the kettle, pour water into the teacup, hand over the tea bag to the + other hand, put it in and take out the water cup, and finally throw the tea + bag into the desktop trash can. + scene_type: + - home + - restaurant + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: water + level1: drink + level2: water + level3: null + level4: null + level5: null + - object_name: tea_bag + level1: drink + level2: tea_bag + level3: null + level4: null + level5: null + - object_name: trash_bin + level1: container + level2: trash_bin + level3: null + level4: null + level5: null + - object_name: kettle + level1: electric_appliance + level2: kettle + level3: null + level4: null + level5: null + - object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 101 + total_frames: 162473 + total_tasks: 1 + total_videos: 303 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:100 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_make_the_bed.yaml b/dataset_info/R1_Lite_make_the_bed.yaml new file mode 100644 index 0000000000000000000000000000000000000000..53df5401011c8e6b0e2b5209d3c1768da8663ba4 --- /dev/null +++ b/dataset_info/R1_Lite_make_the_bed.yaml @@ -0,0 +1,796 @@ +dataset_name: make_the_bed +dataset_uuid: ea93521a-043d-4af7-ac4e-5e26fa0d46ef +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +- pull +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: quilt + level1: clothing + level2: quilt + level3: null + level4: null + level5: null +- object_name: bed + level1: furniture + level2: bed + level3: null + level4: null + level5: null +path: R1_Lite_make_the_bed +video_url: ./assets/videos/R1_Lite_make_the_bed.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_make_the_bed.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 6.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 100 + total_frames: 240837 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:99 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: hold quilt's folded corner flatten blanket's corners. +sub_tasks: +- Hold the folded corner of the quilt +- End +- abnormal +- Flatten the corners of the folded blanket +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_make_the_bed_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 400 + dataset_name: make_the_bed + dataset_uuid: ea93521a-043d-4af7-ac4e-5e26fa0d46ef + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/make_the_bed/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_make_the_bed + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: make_the_bed + dataset_uuid: null + task_descriptions: + - Grasp the corner of the quilt and flatten the quilt. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + - pull + objects: + - object_name: quilt + level1: clothing + level2: quilt + level3: null + level4: null + level5: null + - object_name: bed + level1: furniture + level2: bed + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 100 + total_frames: 240837 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:99 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_move_the_position_of_the_apple.yaml b/dataset_info/R1_Lite_move_the_position_of_the_apple.yaml new file mode 100644 index 0000000000000000000000000000000000000000..333ccbf76db93ebab5a8409eaf3a188a4d27a264 --- /dev/null +++ b/dataset_info/R1_Lite_move_the_position_of_the_apple.yaml @@ -0,0 +1,1377 @@ +dataset_name: move_the_position_of_the_apple +dataset_uuid: 9155fbd7-8bc2-44d0-a2dc-16b1fad44af0 +scene_type: +- home +atomic_actions: +- place +- pick +- grasp +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null +- object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null +- object_name: apple + level1: fruit + level2: apple + level3: null + level4: null + level5: null +- object_name: bath_ball + level1: daily_necessities + level2: bath_ball + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: can + level1: container + level2: can + level3: null + level4: null + level5: null +- object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null +- object_name: hard_cleanser + level1: daily_necessities + level2: hard_cleanser + level3: null + level4: null + level5: null +- object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null +- object_name: peeler + level1: tool + level2: peeler + level3: null + level4: null + level5: null +- object_name: block + level1: toy + level2: block + level3: null + level4: null + level5: null +- object_name: duck + level1: toy + level2: duck + level3: null + level4: null + level5: null +- object_name: soap + level1: daily_necessities + level2: soap + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +- object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null +- object_name: detergent + level1: daily_necessities + level2: detergent + level3: null + level4: null + level5: null +- object_name: egg_beater + level1: electrical_appliances + level2: egg_beater + level3: null + level4: null + level5: null +- object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null +- object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null +- object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null +- object_name: marker + level1: office_supplies + level2: marker + level3: null + level4: null + level5: null +- object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null +- object_name: bread_slice + level1: food + level2: bread_slice + level3: null + level4: null + level5: null +- object_name: brush + level1: daily_necessities + level2: brush + level3: null + level4: null + level5: null +- object_name: yogurt + level1: drink + level2: yogurt + level3: null + level4: null + level5: null +- object_name: power_strip + level1: electric_appliance + level2: power_strip + level3: null + level4: null + level5: null +- object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null +- object_name: soda + level1: drink + level2: soda + level3: null + level4: null + level5: null +- object_name: lime + level1: fruit + level2: lime + level3: null + level4: null + level5: null +- object_name: coffee_capsule + level1: drink + level2: coffee_capsule + level3: null + level4: null + level5: null +- object_name: dish + level1: container + level2: dish + level3: null + level4: null + level5: null +- object_name: glass + level1: furniture + level2: glass + level3: null + level4: null + level5: null +- object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null +- object_name: glasses_case + level1: daily_necessities + level2: glasses_case + level3: null + level4: null + level5: null +- object_name: gum + level1: daily_necessities + level2: gum + level3: null + level4: null + level5: null +- object_name: tape + level1: daily_necessities + level2: tape + level3: null + level4: null + level5: null +- object_name: soft_cleanser + level1: daily_necessities + level2: soft_cleanser + level3: null + level4: null + level5: null +- object_name: chips + level1: food + level2: chips + level3: null + level4: null + level5: null +- object_name: chocolate + level1: food + level2: chocolate + level3: null + level4: null + level5: null +- object_name: cookie + level1: food + level2: cookie + level3: null + level4: null + level5: null +- object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null +path: R1_Lite_move_the_position_of_the_apple +video_url: ./assets/videos/R1_Lite_move_the_position_of_the_apple.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_move_the_position_of_the_apple.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 223.0MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 35 + total_frames: 5959 + total_tasks: 1 + total_videos: 140 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:34 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put the apple in the designated position. +sub_tasks: +- End +- Place the apple on the table with left gripper +- Grasp the apple with left gripper +- Place the apple on the table with right gripper +- Grasp the apple with right gripper +- Static +- Abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_left_rgb + name: cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_rgb + name: cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +action_space: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_move_the_position_of_the_apple_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 29 + dataset_name: move_the_position_of_the_apple + dataset_uuid: 9155fbd7-8bc2-44d0-a2dc-16b1fad44af0 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/put_the_apple/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_move_the_position_of_the_apple + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: move_the_position_of_the_apple + dataset_uuid: null + task_descriptions: + - put the apple in the designated position. + scene_type: + - home + atomic_actions: + - place + - pick + - grasp + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null + - object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null + - object_name: apple + level1: fruit + level2: apple + level3: null + level4: null + level5: null + - object_name: bath_ball + level1: daily_necessities + level2: bath_ball + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: can + level1: container + level2: can + level3: null + level4: null + level5: null + - object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null + - object_name: hard_cleanser + level1: daily_necessities + level2: hard_cleanser + level3: null + level4: null + level5: null + - object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null + - object_name: peeler + level1: tool + level2: peeler + level3: null + level4: null + level5: null + - object_name: block + level1: toy + level2: block + level3: null + level4: null + level5: null + - object_name: duck + level1: toy + level2: duck + level3: null + level4: null + level5: null + - object_name: soap + level1: daily_necessities + level2: soap + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + - object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null + - object_name: detergent + level1: daily_necessities + level2: detergent + level3: null + level4: null + level5: null + - object_name: egg_beater + level1: electrical_appliances + level2: egg_beater + level3: null + level4: null + level5: null + - object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null + - object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null + - object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null + - object_name: marker + level1: office_supplies + level2: marker + level3: null + level4: null + level5: null + - object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null + - object_name: bread_slice + level1: food + level2: bread_slice + level3: null + level4: null + level5: null + - object_name: brush + level1: daily_necessities + level2: brush + level3: null + level4: null + level5: null + - object_name: yogurt + level1: drink + level2: yogurt + level3: null + level4: null + level5: null + - object_name: power_strip + level1: electric_appliance + level2: power_strip + level3: null + level4: null + level5: null + - object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null + - object_name: soda + level1: drink + level2: soda + level3: null + level4: null + level5: null + - object_name: lime + level1: fruit + level2: lime + level3: null + level4: null + level5: null + - object_name: coffee_capsule + level1: drink + level2: coffee_capsule + level3: null + level4: null + level5: null + - object_name: dish + level1: container + level2: dish + level3: null + level4: null + level5: null + - object_name: glass + level1: furniture + level2: glass + level3: null + level4: null + level5: null + - object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null + - object_name: glasses_case + level1: daily_necessities + level2: glasses_case + level3: null + level4: null + level5: null + - object_name: gum + level1: daily_necessities + level2: gum + level3: null + level4: null + level5: null + - object_name: tape + level1: daily_necessities + level2: tape + level3: null + level4: null + level5: null + - object_name: soft_cleanser + level1: daily_necessities + level2: soft_cleanser + level3: null + level4: null + level5: null + - object_name: chips + level1: food + level2: chips + level3: null + level4: null + level5: null + - object_name: chocolate + level1: food + level2: chocolate + level3: null + level4: null + level5: null + - object_name: cookie + level1: food + level2: cookie + level3: null + level4: null + level5: null + - object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 35 + total_frames: 5959 + total_tasks: 1 + total_videos: 140 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:34 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_move_the_position_of_the_black_marker.yaml b/dataset_info/R1_Lite_move_the_position_of_the_black_marker.yaml new file mode 100644 index 0000000000000000000000000000000000000000..75a197d7c4901ec9ef65927e1ce048594abfc77e --- /dev/null +++ b/dataset_info/R1_Lite_move_the_position_of_the_black_marker.yaml @@ -0,0 +1,1364 @@ +dataset_name: move_the_position_of_the_black_marker +dataset_uuid: 5d591692-f2ae-4fa8-97d1-9cd1613b1b33 +scene_type: +- home +atomic_actions: +- place +- pick +- grasp +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null +- object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null +- object_name: bath_ball + level1: daily_necessities + level2: bath_ball + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: can + level1: container + level2: can + level3: null + level4: null + level5: null +- object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null +- object_name: hard_cleanser + level1: daily_necessities + level2: hard_cleanser + level3: null + level4: null + level5: null +- object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null +- object_name: peeler + level1: tool + level2: peeler + level3: null + level4: null + level5: null +- object_name: block + level1: toy + level2: block + level3: null + level4: null + level5: null +- object_name: duck + level1: toy + level2: duck + level3: null + level4: null + level5: null +- object_name: soap + level1: daily_necessities + level2: soap + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +- object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null +- object_name: detergent + level1: daily_necessities + level2: detergent + level3: null + level4: null + level5: null +- object_name: egg_beater + level1: electrical_appliances + level2: egg_beater + level3: null + level4: null + level5: null +- object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null +- object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null +- object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null +- object_name: marker + level1: office_supplies + level2: marker + level3: null + level4: null + level5: null +- object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null +- object_name: bread_slice + level1: food + level2: bread_slice + level3: null + level4: null + level5: null +- object_name: brush + level1: daily_necessities + level2: brush + level3: null + level4: null + level5: null +- object_name: yogurt + level1: drink + level2: yogurt + level3: null + level4: null + level5: null +- object_name: power_strip + level1: electric_appliance + level2: power_strip + level3: null + level4: null + level5: null +- object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null +- object_name: soda + level1: drink + level2: soda + level3: null + level4: null + level5: null +- object_name: lime + level1: fruit + level2: lime + level3: null + level4: null + level5: null +- object_name: coffee_capsule + level1: drink + level2: coffee_capsule + level3: null + level4: null + level5: null +- object_name: dish + level1: container + level2: dish + level3: null + level4: null + level5: null +- object_name: glass + level1: furniture + level2: glass + level3: null + level4: null + level5: null +- object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null +- object_name: glasses_case + level1: daily_necessities + level2: glasses_case + level3: null + level4: null + level5: null +- object_name: gum + level1: daily_necessities + level2: gum + level3: null + level4: null + level5: null +- object_name: tape + level1: daily_necessities + level2: tape + level3: null + level4: null + level5: null +- object_name: soft_cleanser + level1: daily_necessities + level2: soft_cleanser + level3: null + level4: null + level5: null +- object_name: chips + level1: food + level2: chips + level3: null + level4: null + level5: null +- object_name: chocolate + level1: food + level2: chocolate + level3: null + level4: null + level5: null +- object_name: cookie + level1: food + level2: cookie + level3: null + level4: null + level5: null +- object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null +path: R1_Lite_move_the_position_of_the_black_marker +video_url: ./assets/videos/R1_Lite_move_the_position_of_the_black_marker.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_move_the_position_of_the_black_marker.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 536.6MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 61 + total_frames: 15618 + total_tasks: 1 + total_videos: 244 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:60 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put the black marker in the designated position. +sub_tasks: +- Grasp the Marker pen with left gripper +- Grasp the Marker pen with right gripper +- Place the Marker pen on the table with right gripper +- Static +- End +- Place the Marker pen on the table with left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_left_rgb + name: cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_rgb + name: cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +action_space: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_move_the_position_of_the_black_marker_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 19 + dataset_name: move_the_position_of_the_black_marker + dataset_uuid: 5d591692-f2ae-4fa8-97d1-9cd1613b1b33 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/put_the_black_marker/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_move_the_position_of_the_black_marker + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: move_the_position_of_the_black_marker + dataset_uuid: null + task_descriptions: + - put the black marker in the designated position. + scene_type: + - home + atomic_actions: + - place + - pick + - grasp + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null + - object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null + - object_name: bath_ball + level1: daily_necessities + level2: bath_ball + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: can + level1: container + level2: can + level3: null + level4: null + level5: null + - object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null + - object_name: hard_cleanser + level1: daily_necessities + level2: hard_cleanser + level3: null + level4: null + level5: null + - object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null + - object_name: peeler + level1: tool + level2: peeler + level3: null + level4: null + level5: null + - object_name: block + level1: toy + level2: block + level3: null + level4: null + level5: null + - object_name: duck + level1: toy + level2: duck + level3: null + level4: null + level5: null + - object_name: soap + level1: daily_necessities + level2: soap + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + - object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null + - object_name: detergent + level1: daily_necessities + level2: detergent + level3: null + level4: null + level5: null + - object_name: egg_beater + level1: electrical_appliances + level2: egg_beater + level3: null + level4: null + level5: null + - object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null + - object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null + - object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null + - object_name: marker + level1: office_supplies + level2: marker + level3: null + level4: null + level5: null + - object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null + - object_name: bread_slice + level1: food + level2: bread_slice + level3: null + level4: null + level5: null + - object_name: brush + level1: daily_necessities + level2: brush + level3: null + level4: null + level5: null + - object_name: yogurt + level1: drink + level2: yogurt + level3: null + level4: null + level5: null + - object_name: power_strip + level1: electric_appliance + level2: power_strip + level3: null + level4: null + level5: null + - object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null + - object_name: soda + level1: drink + level2: soda + level3: null + level4: null + level5: null + - object_name: lime + level1: fruit + level2: lime + level3: null + level4: null + level5: null + - object_name: coffee_capsule + level1: drink + level2: coffee_capsule + level3: null + level4: null + level5: null + - object_name: dish + level1: container + level2: dish + level3: null + level4: null + level5: null + - object_name: glass + level1: furniture + level2: glass + level3: null + level4: null + level5: null + - object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null + - object_name: glasses_case + level1: daily_necessities + level2: glasses_case + level3: null + level4: null + level5: null + - object_name: gum + level1: daily_necessities + level2: gum + level3: null + level4: null + level5: null + - object_name: tape + level1: daily_necessities + level2: tape + level3: null + level4: null + level5: null + - object_name: soft_cleanser + level1: daily_necessities + level2: soft_cleanser + level3: null + level4: null + level5: null + - object_name: chips + level1: food + level2: chips + level3: null + level4: null + level5: null + - object_name: chocolate + level1: food + level2: chocolate + level3: null + level4: null + level5: null + - object_name: cookie + level1: food + level2: cookie + level3: null + level4: null + level5: null + - object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 61 + total_frames: 15618 + total_tasks: 1 + total_videos: 244 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:60 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_move_the_position_of_the_brush.yaml b/dataset_info/R1_Lite_move_the_position_of_the_brush.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1bd63a24cb9fb3b19a8640682878b2219680efb8 --- /dev/null +++ b/dataset_info/R1_Lite_move_the_position_of_the_brush.yaml @@ -0,0 +1,1365 @@ +dataset_name: move_the_position_of_the_brush +dataset_uuid: 0626d7f7-69b7-4fb0-9edc-8ba92d1df7cf +scene_type: +- home +atomic_actions: +- place +- pick +- grasp +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null +- object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null +- object_name: bath_ball + level1: daily_necessities + level2: bath_ball + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: can + level1: container + level2: can + level3: null + level4: null + level5: null +- object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null +- object_name: hard_cleanser + level1: daily_necessities + level2: hard_cleanser + level3: null + level4: null + level5: null +- object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null +- object_name: peeler + level1: tool + level2: peeler + level3: null + level4: null + level5: null +- object_name: block + level1: toy + level2: block + level3: null + level4: null + level5: null +- object_name: duck + level1: toy + level2: duck + level3: null + level4: null + level5: null +- object_name: soap + level1: daily_necessities + level2: soap + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +- object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null +- object_name: detergent + level1: daily_necessities + level2: detergent + level3: null + level4: null + level5: null +- object_name: egg_beater + level1: electrical_appliances + level2: egg_beater + level3: null + level4: null + level5: null +- object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null +- object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null +- object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null +- object_name: marker + level1: office_supplies + level2: marker + level3: null + level4: null + level5: null +- object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null +- object_name: bread_slice + level1: food + level2: bread_slice + level3: null + level4: null + level5: null +- object_name: brush + level1: daily_necessities + level2: brush + level3: null + level4: null + level5: null +- object_name: yogurt + level1: drink + level2: yogurt + level3: null + level4: null + level5: null +- object_name: power_strip + level1: electric_appliance + level2: power_strip + level3: null + level4: null + level5: null +- object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null +- object_name: soda + level1: drink + level2: soda + level3: null + level4: null + level5: null +- object_name: lime + level1: fruit + level2: lime + level3: null + level4: null + level5: null +- object_name: coffee_capsule + level1: drink + level2: coffee_capsule + level3: null + level4: null + level5: null +- object_name: dish + level1: container + level2: dish + level3: null + level4: null + level5: null +- object_name: glass + level1: furniture + level2: glass + level3: null + level4: null + level5: null +- object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null +- object_name: glasses_case + level1: daily_necessities + level2: glasses_case + level3: null + level4: null + level5: null +- object_name: gum + level1: daily_necessities + level2: gum + level3: null + level4: null + level5: null +- object_name: tape + level1: daily_necessities + level2: tape + level3: null + level4: null + level5: null +- object_name: soft_cleanser + level1: daily_necessities + level2: soft_cleanser + level3: null + level4: null + level5: null +- object_name: chips + level1: food + level2: chips + level3: null + level4: null + level5: null +- object_name: chocolate + level1: food + level2: chocolate + level3: null + level4: null + level5: null +- object_name: cookie + level1: food + level2: cookie + level3: null + level4: null + level5: null +- object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null +path: R1_Lite_move_the_position_of_the_brush +video_url: ./assets/videos/R1_Lite_move_the_position_of_the_brush.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_move_the_position_of_the_brush.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 677.0MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 63 + total_frames: 17774 + total_tasks: 1 + total_videos: 252 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:62 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put the brush in the designated position. +sub_tasks: +- Static +- Place the brush on the table with right gripper +- Grasp the brush with right gripper +- Grasp the brush with left gripper +- Place the brush on the table with left gripper +- End +- Abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_left_rgb + name: cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_rgb + name: cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +action_space: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_move_the_position_of_the_brush_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 27 + dataset_name: move_the_position_of_the_brush + dataset_uuid: 0626d7f7-69b7-4fb0-9edc-8ba92d1df7cf + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/put_the_brush/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_move_the_position_of_the_brush + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: move_the_position_of_the_brush + dataset_uuid: null + task_descriptions: + - put the brush in the designated position. + scene_type: + - home + atomic_actions: + - place + - pick + - grasp + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null + - object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null + - object_name: bath_ball + level1: daily_necessities + level2: bath_ball + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: can + level1: container + level2: can + level3: null + level4: null + level5: null + - object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null + - object_name: hard_cleanser + level1: daily_necessities + level2: hard_cleanser + level3: null + level4: null + level5: null + - object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null + - object_name: peeler + level1: tool + level2: peeler + level3: null + level4: null + level5: null + - object_name: block + level1: toy + level2: block + level3: null + level4: null + level5: null + - object_name: duck + level1: toy + level2: duck + level3: null + level4: null + level5: null + - object_name: soap + level1: daily_necessities + level2: soap + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + - object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null + - object_name: detergent + level1: daily_necessities + level2: detergent + level3: null + level4: null + level5: null + - object_name: egg_beater + level1: electrical_appliances + level2: egg_beater + level3: null + level4: null + level5: null + - object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null + - object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null + - object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null + - object_name: marker + level1: office_supplies + level2: marker + level3: null + level4: null + level5: null + - object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null + - object_name: bread_slice + level1: food + level2: bread_slice + level3: null + level4: null + level5: null + - object_name: brush + level1: daily_necessities + level2: brush + level3: null + level4: null + level5: null + - object_name: yogurt + level1: drink + level2: yogurt + level3: null + level4: null + level5: null + - object_name: power_strip + level1: electric_appliance + level2: power_strip + level3: null + level4: null + level5: null + - object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null + - object_name: soda + level1: drink + level2: soda + level3: null + level4: null + level5: null + - object_name: lime + level1: fruit + level2: lime + level3: null + level4: null + level5: null + - object_name: coffee_capsule + level1: drink + level2: coffee_capsule + level3: null + level4: null + level5: null + - object_name: dish + level1: container + level2: dish + level3: null + level4: null + level5: null + - object_name: glass + level1: furniture + level2: glass + level3: null + level4: null + level5: null + - object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null + - object_name: glasses_case + level1: daily_necessities + level2: glasses_case + level3: null + level4: null + level5: null + - object_name: gum + level1: daily_necessities + level2: gum + level3: null + level4: null + level5: null + - object_name: tape + level1: daily_necessities + level2: tape + level3: null + level4: null + level5: null + - object_name: soft_cleanser + level1: daily_necessities + level2: soft_cleanser + level3: null + level4: null + level5: null + - object_name: chips + level1: food + level2: chips + level3: null + level4: null + level5: null + - object_name: chocolate + level1: food + level2: chocolate + level3: null + level4: null + level5: null + - object_name: cookie + level1: food + level2: cookie + level3: null + level4: null + level5: null + - object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 63 + total_frames: 17774 + total_tasks: 1 + total_videos: 252 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:62 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_move_the_position_of_the_coffee_capsule.yaml b/dataset_info/R1_Lite_move_the_position_of_the_coffee_capsule.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b9dd469fd4beb012eb60b3b73812c501d2a38fee --- /dev/null +++ b/dataset_info/R1_Lite_move_the_position_of_the_coffee_capsule.yaml @@ -0,0 +1,1364 @@ +dataset_name: move_the_position_of_the_coffee_capsule +dataset_uuid: b0f7658f-e170-4911-afdf-9af621bfa0fe +scene_type: +- home +atomic_actions: +- place +- pick +- grasp +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null +- object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null +- object_name: bath_ball + level1: daily_necessities + level2: bath_ball + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: can + level1: container + level2: can + level3: null + level4: null + level5: null +- object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null +- object_name: hard_cleanser + level1: daily_necessities + level2: hard_cleanser + level3: null + level4: null + level5: null +- object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null +- object_name: peeler + level1: tool + level2: peeler + level3: null + level4: null + level5: null +- object_name: block + level1: toy + level2: block + level3: null + level4: null + level5: null +- object_name: duck + level1: toy + level2: duck + level3: null + level4: null + level5: null +- object_name: soap + level1: daily_necessities + level2: soap + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +- object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null +- object_name: detergent + level1: daily_necessities + level2: detergent + level3: null + level4: null + level5: null +- object_name: egg_beater + level1: electrical_appliances + level2: egg_beater + level3: null + level4: null + level5: null +- object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null +- object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null +- object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null +- object_name: marker + level1: office_supplies + level2: marker + level3: null + level4: null + level5: null +- object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null +- object_name: bread_slice + level1: food + level2: bread_slice + level3: null + level4: null + level5: null +- object_name: brush + level1: daily_necessities + level2: brush + level3: null + level4: null + level5: null +- object_name: yogurt + level1: drink + level2: yogurt + level3: null + level4: null + level5: null +- object_name: power_strip + level1: electric_appliance + level2: power_strip + level3: null + level4: null + level5: null +- object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null +- object_name: soda + level1: drink + level2: soda + level3: null + level4: null + level5: null +- object_name: lime + level1: fruit + level2: lime + level3: null + level4: null + level5: null +- object_name: coffee_capsule + level1: drink + level2: coffee_capsule + level3: null + level4: null + level5: null +- object_name: dish + level1: container + level2: dish + level3: null + level4: null + level5: null +- object_name: glass + level1: furniture + level2: glass + level3: null + level4: null + level5: null +- object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null +- object_name: glasses_case + level1: daily_necessities + level2: glasses_case + level3: null + level4: null + level5: null +- object_name: gum + level1: daily_necessities + level2: gum + level3: null + level4: null + level5: null +- object_name: tape + level1: daily_necessities + level2: tape + level3: null + level4: null + level5: null +- object_name: soft_cleanser + level1: daily_necessities + level2: soft_cleanser + level3: null + level4: null + level5: null +- object_name: chips + level1: food + level2: chips + level3: null + level4: null + level5: null +- object_name: chocolate + level1: food + level2: chocolate + level3: null + level4: null + level5: null +- object_name: cookie + level1: food + level2: cookie + level3: null + level4: null + level5: null +- object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null +path: R1_Lite_move_the_position_of_the_coffee_capsule +video_url: ./assets/videos/R1_Lite_move_the_position_of_the_coffee_capsule.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_move_the_position_of_the_coffee_capsule.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 500.1MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 58 + total_frames: 14334 + total_tasks: 1 + total_videos: 232 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:57 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put the coffee capsulein the designated position. +sub_tasks: +- End +- Grasp the coffee capsule with left gripper +- Place the coffee capsule on the table with right gripper +- Grasp the coffee capsule with right gripper +- Static +- Place the coffee capsule on the table with left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_left_rgb + name: cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_rgb + name: cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +action_space: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_move_the_position_of_the_coffee_capsule_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 18 + dataset_name: move_the_position_of_the_coffee_capsule + dataset_uuid: b0f7658f-e170-4911-afdf-9af621bfa0fe + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/put_the_coffee_capsule/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_move_the_position_of_the_coffee_capsule + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: move_the_position_of_the_coffee_capsule + dataset_uuid: null + task_descriptions: + - put the coffee capsulein the designated position. + scene_type: + - home + atomic_actions: + - place + - pick + - grasp + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null + - object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null + - object_name: bath_ball + level1: daily_necessities + level2: bath_ball + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: can + level1: container + level2: can + level3: null + level4: null + level5: null + - object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null + - object_name: hard_cleanser + level1: daily_necessities + level2: hard_cleanser + level3: null + level4: null + level5: null + - object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null + - object_name: peeler + level1: tool + level2: peeler + level3: null + level4: null + level5: null + - object_name: block + level1: toy + level2: block + level3: null + level4: null + level5: null + - object_name: duck + level1: toy + level2: duck + level3: null + level4: null + level5: null + - object_name: soap + level1: daily_necessities + level2: soap + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + - object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null + - object_name: detergent + level1: daily_necessities + level2: detergent + level3: null + level4: null + level5: null + - object_name: egg_beater + level1: electrical_appliances + level2: egg_beater + level3: null + level4: null + level5: null + - object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null + - object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null + - object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null + - object_name: marker + level1: office_supplies + level2: marker + level3: null + level4: null + level5: null + - object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null + - object_name: bread_slice + level1: food + level2: bread_slice + level3: null + level4: null + level5: null + - object_name: brush + level1: daily_necessities + level2: brush + level3: null + level4: null + level5: null + - object_name: yogurt + level1: drink + level2: yogurt + level3: null + level4: null + level5: null + - object_name: power_strip + level1: electric_appliance + level2: power_strip + level3: null + level4: null + level5: null + - object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null + - object_name: soda + level1: drink + level2: soda + level3: null + level4: null + level5: null + - object_name: lime + level1: fruit + level2: lime + level3: null + level4: null + level5: null + - object_name: coffee_capsule + level1: drink + level2: coffee_capsule + level3: null + level4: null + level5: null + - object_name: dish + level1: container + level2: dish + level3: null + level4: null + level5: null + - object_name: glass + level1: furniture + level2: glass + level3: null + level4: null + level5: null + - object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null + - object_name: glasses_case + level1: daily_necessities + level2: glasses_case + level3: null + level4: null + level5: null + - object_name: gum + level1: daily_necessities + level2: gum + level3: null + level4: null + level5: null + - object_name: tape + level1: daily_necessities + level2: tape + level3: null + level4: null + level5: null + - object_name: soft_cleanser + level1: daily_necessities + level2: soft_cleanser + level3: null + level4: null + level5: null + - object_name: chips + level1: food + level2: chips + level3: null + level4: null + level5: null + - object_name: chocolate + level1: food + level2: chocolate + level3: null + level4: null + level5: null + - object_name: cookie + level1: food + level2: cookie + level3: null + level4: null + level5: null + - object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 58 + total_frames: 14334 + total_tasks: 1 + total_videos: 232 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:57 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_move_the_position_of_the_cookie.yaml b/dataset_info/R1_Lite_move_the_position_of_the_cookie.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d1ce5ea10c45398aa41e2f437b0208f3b05d1222 --- /dev/null +++ b/dataset_info/R1_Lite_move_the_position_of_the_cookie.yaml @@ -0,0 +1,1365 @@ +dataset_name: move_the_position_of_the_cookie +dataset_uuid: 7015670f-e702-4c08-a662-e74aee0c0872 +scene_type: +- home +atomic_actions: +- place +- pick +- grasp +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null +- object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null +- object_name: bath_ball + level1: daily_necessities + level2: bath_ball + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: can + level1: container + level2: can + level3: null + level4: null + level5: null +- object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null +- object_name: hard_cleanser + level1: daily_necessities + level2: hard_cleanser + level3: null + level4: null + level5: null +- object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null +- object_name: peeler + level1: tool + level2: peeler + level3: null + level4: null + level5: null +- object_name: block + level1: toy + level2: block + level3: null + level4: null + level5: null +- object_name: duck + level1: toy + level2: duck + level3: null + level4: null + level5: null +- object_name: soap + level1: daily_necessities + level2: soap + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +- object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null +- object_name: detergent + level1: daily_necessities + level2: detergent + level3: null + level4: null + level5: null +- object_name: egg_beater + level1: electrical_appliances + level2: egg_beater + level3: null + level4: null + level5: null +- object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null +- object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null +- object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null +- object_name: marker + level1: office_supplies + level2: marker + level3: null + level4: null + level5: null +- object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null +- object_name: bread_slice + level1: food + level2: bread_slice + level3: null + level4: null + level5: null +- object_name: brush + level1: daily_necessities + level2: brush + level3: null + level4: null + level5: null +- object_name: yogurt + level1: drink + level2: yogurt + level3: null + level4: null + level5: null +- object_name: power_strip + level1: electric_appliance + level2: power_strip + level3: null + level4: null + level5: null +- object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null +- object_name: soda + level1: drink + level2: soda + level3: null + level4: null + level5: null +- object_name: lime + level1: fruit + level2: lime + level3: null + level4: null + level5: null +- object_name: coffee_capsule + level1: drink + level2: coffee_capsule + level3: null + level4: null + level5: null +- object_name: dish + level1: container + level2: dish + level3: null + level4: null + level5: null +- object_name: glass + level1: furniture + level2: glass + level3: null + level4: null + level5: null +- object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null +- object_name: glasses_case + level1: daily_necessities + level2: glasses_case + level3: null + level4: null + level5: null +- object_name: gum + level1: daily_necessities + level2: gum + level3: null + level4: null + level5: null +- object_name: tape + level1: daily_necessities + level2: tape + level3: null + level4: null + level5: null +- object_name: soft_cleanser + level1: daily_necessities + level2: soft_cleanser + level3: null + level4: null + level5: null +- object_name: chips + level1: food + level2: chips + level3: null + level4: null + level5: null +- object_name: chocolate + level1: food + level2: chocolate + level3: null + level4: null + level5: null +- object_name: cookie + level1: food + level2: cookie + level3: null + level4: null + level5: null +- object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null +path: R1_Lite_move_the_position_of_the_cookie +video_url: ./assets/videos/R1_Lite_move_the_position_of_the_cookie.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_move_the_position_of_the_cookie.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 198.3MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 25 + total_frames: 5045 + total_tasks: 1 + total_videos: 100 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:24 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put the cookie the designated position. +sub_tasks: +- Place the cookie on the table with right gripper +- Static +- Place the cookie on the table with left gripper +- End +- Grasp the cookie with right gripper +- Grasp the cookie with left gripper +- Abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_left_rgb + name: cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_rgb + name: cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +action_space: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_move_the_position_of_the_cookie_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 33 + dataset_name: move_the_position_of_the_cookie + dataset_uuid: 7015670f-e702-4c08-a662-e74aee0c0872 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/put_the_cookie/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_move_the_position_of_the_cookie + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: move_the_position_of_the_cookie + dataset_uuid: null + task_descriptions: + - put the cookie the designated position. + scene_type: + - home + atomic_actions: + - place + - pick + - grasp + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null + - object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null + - object_name: bath_ball + level1: daily_necessities + level2: bath_ball + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: can + level1: container + level2: can + level3: null + level4: null + level5: null + - object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null + - object_name: hard_cleanser + level1: daily_necessities + level2: hard_cleanser + level3: null + level4: null + level5: null + - object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null + - object_name: peeler + level1: tool + level2: peeler + level3: null + level4: null + level5: null + - object_name: block + level1: toy + level2: block + level3: null + level4: null + level5: null + - object_name: duck + level1: toy + level2: duck + level3: null + level4: null + level5: null + - object_name: soap + level1: daily_necessities + level2: soap + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + - object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null + - object_name: detergent + level1: daily_necessities + level2: detergent + level3: null + level4: null + level5: null + - object_name: egg_beater + level1: electrical_appliances + level2: egg_beater + level3: null + level4: null + level5: null + - object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null + - object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null + - object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null + - object_name: marker + level1: office_supplies + level2: marker + level3: null + level4: null + level5: null + - object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null + - object_name: bread_slice + level1: food + level2: bread_slice + level3: null + level4: null + level5: null + - object_name: brush + level1: daily_necessities + level2: brush + level3: null + level4: null + level5: null + - object_name: yogurt + level1: drink + level2: yogurt + level3: null + level4: null + level5: null + - object_name: power_strip + level1: electric_appliance + level2: power_strip + level3: null + level4: null + level5: null + - object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null + - object_name: soda + level1: drink + level2: soda + level3: null + level4: null + level5: null + - object_name: lime + level1: fruit + level2: lime + level3: null + level4: null + level5: null + - object_name: coffee_capsule + level1: drink + level2: coffee_capsule + level3: null + level4: null + level5: null + - object_name: dish + level1: container + level2: dish + level3: null + level4: null + level5: null + - object_name: glass + level1: furniture + level2: glass + level3: null + level4: null + level5: null + - object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null + - object_name: glasses_case + level1: daily_necessities + level2: glasses_case + level3: null + level4: null + level5: null + - object_name: gum + level1: daily_necessities + level2: gum + level3: null + level4: null + level5: null + - object_name: tape + level1: daily_necessities + level2: tape + level3: null + level4: null + level5: null + - object_name: soft_cleanser + level1: daily_necessities + level2: soft_cleanser + level3: null + level4: null + level5: null + - object_name: chips + level1: food + level2: chips + level3: null + level4: null + level5: null + - object_name: chocolate + level1: food + level2: chocolate + level3: null + level4: null + level5: null + - object_name: cookie + level1: food + level2: cookie + level3: null + level4: null + level5: null + - object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 25 + total_frames: 5045 + total_tasks: 1 + total_videos: 100 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:24 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_move_the_position_of_the_duck.yaml b/dataset_info/R1_Lite_move_the_position_of_the_duck.yaml new file mode 100644 index 0000000000000000000000000000000000000000..833862979e493cfbf09a4bf1bec9e7aa01c32570 --- /dev/null +++ b/dataset_info/R1_Lite_move_the_position_of_the_duck.yaml @@ -0,0 +1,1365 @@ +dataset_name: move_the_position_of_the_duck +dataset_uuid: da6ac6c0-2744-4f18-98b8-d87cbfcc8ce1 +scene_type: +- home +atomic_actions: +- place +- pick +- grasp +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null +- object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null +- object_name: bath_ball + level1: daily_necessities + level2: bath_ball + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: can + level1: container + level2: can + level3: null + level4: null + level5: null +- object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null +- object_name: hard_cleanser + level1: daily_necessities + level2: hard_cleanser + level3: null + level4: null + level5: null +- object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null +- object_name: peeler + level1: tool + level2: peeler + level3: null + level4: null + level5: null +- object_name: block + level1: toy + level2: block + level3: null + level4: null + level5: null +- object_name: duck + level1: toy + level2: duck + level3: null + level4: null + level5: null +- object_name: soap + level1: daily_necessities + level2: soap + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +- object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null +- object_name: detergent + level1: daily_necessities + level2: detergent + level3: null + level4: null + level5: null +- object_name: egg_beater + level1: electrical_appliances + level2: egg_beater + level3: null + level4: null + level5: null +- object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null +- object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null +- object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null +- object_name: marker + level1: office_supplies + level2: marker + level3: null + level4: null + level5: null +- object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null +- object_name: bread_slice + level1: food + level2: bread_slice + level3: null + level4: null + level5: null +- object_name: brush + level1: daily_necessities + level2: brush + level3: null + level4: null + level5: null +- object_name: yogurt + level1: drink + level2: yogurt + level3: null + level4: null + level5: null +- object_name: power_strip + level1: electric_appliance + level2: power_strip + level3: null + level4: null + level5: null +- object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null +- object_name: soda + level1: drink + level2: soda + level3: null + level4: null + level5: null +- object_name: lime + level1: fruit + level2: lime + level3: null + level4: null + level5: null +- object_name: coffee_capsule + level1: drink + level2: coffee_capsule + level3: null + level4: null + level5: null +- object_name: dish + level1: container + level2: dish + level3: null + level4: null + level5: null +- object_name: glass + level1: furniture + level2: glass + level3: null + level4: null + level5: null +- object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null +- object_name: glasses_case + level1: daily_necessities + level2: glasses_case + level3: null + level4: null + level5: null +- object_name: gum + level1: daily_necessities + level2: gum + level3: null + level4: null + level5: null +- object_name: tape + level1: daily_necessities + level2: tape + level3: null + level4: null + level5: null +- object_name: soft_cleanser + level1: daily_necessities + level2: soft_cleanser + level3: null + level4: null + level5: null +- object_name: chips + level1: food + level2: chips + level3: null + level4: null + level5: null +- object_name: chocolate + level1: food + level2: chocolate + level3: null + level4: null + level5: null +- object_name: cookie + level1: food + level2: cookie + level3: null + level4: null + level5: null +- object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null +path: R1_Lite_move_the_position_of_the_duck +video_url: ./assets/videos/R1_Lite_move_the_position_of_the_duck.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_move_the_position_of_the_duck.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 348.2MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 40 + total_frames: 12223 + total_tasks: 1 + total_videos: 160 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:39 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put the duck the designated position. +sub_tasks: +- Grasp the red duck with right gripper +- Static +- Place the red duck on the table with right gripper +- Grasp the red duck with left gripper +- End +- Place the red duck on the table with left gripper +- Abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_left_rgb + name: cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_rgb + name: cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +action_space: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_move_the_position_of_the_duck_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 30 + dataset_name: move_the_position_of_the_duck + dataset_uuid: da6ac6c0-2744-4f18-98b8-d87cbfcc8ce1 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/put_the_red_duck/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_move_the_position_of_the_duck + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: move_the_position_of_the_duck + dataset_uuid: null + task_descriptions: + - put the duck the designated position. + scene_type: + - home + atomic_actions: + - place + - pick + - grasp + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null + - object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null + - object_name: bath_ball + level1: daily_necessities + level2: bath_ball + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: can + level1: container + level2: can + level3: null + level4: null + level5: null + - object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null + - object_name: hard_cleanser + level1: daily_necessities + level2: hard_cleanser + level3: null + level4: null + level5: null + - object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null + - object_name: peeler + level1: tool + level2: peeler + level3: null + level4: null + level5: null + - object_name: block + level1: toy + level2: block + level3: null + level4: null + level5: null + - object_name: duck + level1: toy + level2: duck + level3: null + level4: null + level5: null + - object_name: soap + level1: daily_necessities + level2: soap + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + - object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null + - object_name: detergent + level1: daily_necessities + level2: detergent + level3: null + level4: null + level5: null + - object_name: egg_beater + level1: electrical_appliances + level2: egg_beater + level3: null + level4: null + level5: null + - object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null + - object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null + - object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null + - object_name: marker + level1: office_supplies + level2: marker + level3: null + level4: null + level5: null + - object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null + - object_name: bread_slice + level1: food + level2: bread_slice + level3: null + level4: null + level5: null + - object_name: brush + level1: daily_necessities + level2: brush + level3: null + level4: null + level5: null + - object_name: yogurt + level1: drink + level2: yogurt + level3: null + level4: null + level5: null + - object_name: power_strip + level1: electric_appliance + level2: power_strip + level3: null + level4: null + level5: null + - object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null + - object_name: soda + level1: drink + level2: soda + level3: null + level4: null + level5: null + - object_name: lime + level1: fruit + level2: lime + level3: null + level4: null + level5: null + - object_name: coffee_capsule + level1: drink + level2: coffee_capsule + level3: null + level4: null + level5: null + - object_name: dish + level1: container + level2: dish + level3: null + level4: null + level5: null + - object_name: glass + level1: furniture + level2: glass + level3: null + level4: null + level5: null + - object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null + - object_name: glasses_case + level1: daily_necessities + level2: glasses_case + level3: null + level4: null + level5: null + - object_name: gum + level1: daily_necessities + level2: gum + level3: null + level4: null + level5: null + - object_name: tape + level1: daily_necessities + level2: tape + level3: null + level4: null + level5: null + - object_name: soft_cleanser + level1: daily_necessities + level2: soft_cleanser + level3: null + level4: null + level5: null + - object_name: chips + level1: food + level2: chips + level3: null + level4: null + level5: null + - object_name: chocolate + level1: food + level2: chocolate + level3: null + level4: null + level5: null + - object_name: cookie + level1: food + level2: cookie + level3: null + level4: null + level5: null + - object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 40 + total_frames: 12223 + total_tasks: 1 + total_videos: 160 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:39 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_move_the_position_of_the_glass.yaml b/dataset_info/R1_Lite_move_the_position_of_the_glass.yaml new file mode 100644 index 0000000000000000000000000000000000000000..564c83d791a4c926f35226d17153bc6f8c7cf3e5 --- /dev/null +++ b/dataset_info/R1_Lite_move_the_position_of_the_glass.yaml @@ -0,0 +1,1365 @@ +dataset_name: move_the_position_of_the_glass +dataset_uuid: 8ac8771b-807d-43fe-ad24-200934007490 +scene_type: +- home +atomic_actions: +- place +- pick +- grasp +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null +- object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null +- object_name: bath_ball + level1: daily_necessities + level2: bath_ball + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: can + level1: container + level2: can + level3: null + level4: null + level5: null +- object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null +- object_name: hard_cleanser + level1: daily_necessities + level2: hard_cleanser + level3: null + level4: null + level5: null +- object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null +- object_name: peeler + level1: tool + level2: peeler + level3: null + level4: null + level5: null +- object_name: block + level1: toy + level2: block + level3: null + level4: null + level5: null +- object_name: duck + level1: toy + level2: duck + level3: null + level4: null + level5: null +- object_name: soap + level1: daily_necessities + level2: soap + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +- object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null +- object_name: detergent + level1: daily_necessities + level2: detergent + level3: null + level4: null + level5: null +- object_name: egg_beater + level1: electrical_appliances + level2: egg_beater + level3: null + level4: null + level5: null +- object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null +- object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null +- object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null +- object_name: marker + level1: office_supplies + level2: marker + level3: null + level4: null + level5: null +- object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null +- object_name: bread_slice + level1: food + level2: bread_slice + level3: null + level4: null + level5: null +- object_name: brush + level1: daily_necessities + level2: brush + level3: null + level4: null + level5: null +- object_name: yogurt + level1: drink + level2: yogurt + level3: null + level4: null + level5: null +- object_name: power_strip + level1: electric_appliance + level2: power_strip + level3: null + level4: null + level5: null +- object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null +- object_name: soda + level1: drink + level2: soda + level3: null + level4: null + level5: null +- object_name: lime + level1: fruit + level2: lime + level3: null + level4: null + level5: null +- object_name: coffee_capsule + level1: drink + level2: coffee_capsule + level3: null + level4: null + level5: null +- object_name: dish + level1: container + level2: dish + level3: null + level4: null + level5: null +- object_name: glasses_case + level1: furniture + level2: glasses_case + level3: null + level4: null + level5: null +- object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null +- object_name: glasses_case + level1: daily_necessities + level2: glasses_case + level3: null + level4: null + level5: null +- object_name: gum + level1: daily_necessities + level2: gum + level3: null + level4: null + level5: null +- object_name: tape + level1: daily_necessities + level2: tape + level3: null + level4: null + level5: null +- object_name: soft_cleanser + level1: daily_necessities + level2: soft_cleanser + level3: null + level4: null + level5: null +- object_name: chips + level1: food + level2: chips + level3: null + level4: null + level5: null +- object_name: chocolate + level1: food + level2: chocolate + level3: null + level4: null + level5: null +- object_name: cookie + level1: food + level2: cookie + level3: null + level4: null + level5: null +- object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null +path: R1_Lite_move_the_position_of_the_glass +video_url: ./assets/videos/R1_Lite_move_the_position_of_the_glass.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_move_the_position_of_the_glass.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 423.9MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 36 + total_frames: 12480 + total_tasks: 1 + total_videos: 144 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:35 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put the glass the designated position. +sub_tasks: +- Grasp the glasses case with left gripper +- Abnormal +- Grasp the glasses case with right gripper +- Place the glasses case on the table with right gripper +- Static +- Place the glasses case on the table with left gripper +- End +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_left_rgb + name: cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_rgb + name: cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +action_space: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_move_the_position_of_the_glass_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 31 + dataset_name: move_the_position_of_the_glass + dataset_uuid: 8ac8771b-807d-43fe-ad24-200934007490 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/put_the_glasses/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_move_the_position_of_the_glass + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: move_the_position_of_the_glasses_case + dataset_uuid: null + task_descriptions: + - put the glasses case the designated position. + scene_type: + - home + atomic_actions: + - place + - pick + - grasp + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null + - object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null + - object_name: bath_ball + level1: daily_necessities + level2: bath_ball + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: can + level1: container + level2: can + level3: null + level4: null + level5: null + - object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null + - object_name: hard_cleanser + level1: daily_necessities + level2: hard_cleanser + level3: null + level4: null + level5: null + - object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null + - object_name: peeler + level1: tool + level2: peeler + level3: null + level4: null + level5: null + - object_name: block + level1: toy + level2: block + level3: null + level4: null + level5: null + - object_name: duck + level1: toy + level2: duck + level3: null + level4: null + level5: null + - object_name: soap + level1: daily_necessities + level2: soap + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + - object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null + - object_name: detergent + level1: daily_necessities + level2: detergent + level3: null + level4: null + level5: null + - object_name: egg_beater + level1: electrical_appliances + level2: egg_beater + level3: null + level4: null + level5: null + - object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null + - object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null + - object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null + - object_name: marker + level1: office_supplies + level2: marker + level3: null + level4: null + level5: null + - object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null + - object_name: bread_slice + level1: food + level2: bread_slice + level3: null + level4: null + level5: null + - object_name: brush + level1: daily_necessities + level2: brush + level3: null + level4: null + level5: null + - object_name: yogurt + level1: drink + level2: yogurt + level3: null + level4: null + level5: null + - object_name: power_strip + level1: electric_appliance + level2: power_strip + level3: null + level4: null + level5: null + - object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null + - object_name: soda + level1: drink + level2: soda + level3: null + level4: null + level5: null + - object_name: lime + level1: fruit + level2: lime + level3: null + level4: null + level5: null + - object_name: coffee_capsule + level1: drink + level2: coffee_capsule + level3: null + level4: null + level5: null + - object_name: dish + level1: container + level2: dish + level3: null + level4: null + level5: null + - object_name: glasses_case + level1: furniture + level2: glasses_case + level3: null + level4: null + level5: null + - object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null + - object_name: glasses_case + level1: daily_necessities + level2: glasses_case + level3: null + level4: null + level5: null + - object_name: gum + level1: daily_necessities + level2: gum + level3: null + level4: null + level5: null + - object_name: tape + level1: daily_necessities + level2: tape + level3: null + level4: null + level5: null + - object_name: soft_cleanser + level1: daily_necessities + level2: soft_cleanser + level3: null + level4: null + level5: null + - object_name: chips + level1: food + level2: chips + level3: null + level4: null + level5: null + - object_name: chocolate + level1: food + level2: chocolate + level3: null + level4: null + level5: null + - object_name: cookie + level1: food + level2: cookie + level3: null + level4: null + level5: null + - object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 36 + total_frames: 12480 + total_tasks: 1 + total_videos: 144 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:35 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_move_the_position_of_the_long_bread.yaml b/dataset_info/R1_Lite_move_the_position_of_the_long_bread.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e0f4bddc5b45c92633074faa98f4a24dbaf4d452 --- /dev/null +++ b/dataset_info/R1_Lite_move_the_position_of_the_long_bread.yaml @@ -0,0 +1,1365 @@ +dataset_name: move_the_position_of_the_long_bread +dataset_uuid: bdee9310-93d0-4808-a0ad-4ca01b25ac9f +scene_type: +- home +atomic_actions: +- place +- pick +- grasp +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null +- object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null +- object_name: bath_ball + level1: daily_necessities + level2: bath_ball + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: can + level1: container + level2: can + level3: null + level4: null + level5: null +- object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null +- object_name: hard_cleanser + level1: daily_necessities + level2: hard_cleanser + level3: null + level4: null + level5: null +- object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null +- object_name: peeler + level1: tool + level2: peeler + level3: null + level4: null + level5: null +- object_name: block + level1: toy + level2: block + level3: null + level4: null + level5: null +- object_name: duck + level1: toy + level2: duck + level3: null + level4: null + level5: null +- object_name: soap + level1: daily_necessities + level2: soap + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +- object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null +- object_name: detergent + level1: daily_necessities + level2: detergent + level3: null + level4: null + level5: null +- object_name: egg_beater + level1: electrical_appliances + level2: egg_beater + level3: null + level4: null + level5: null +- object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null +- object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null +- object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null +- object_name: marker + level1: office_supplies + level2: marker + level3: null + level4: null + level5: null +- object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null +- object_name: bread_slice + level1: food + level2: bread_slice + level3: null + level4: null + level5: null +- object_name: brush + level1: daily_necessities + level2: brush + level3: null + level4: null + level5: null +- object_name: yogurt + level1: drink + level2: yogurt + level3: null + level4: null + level5: null +- object_name: power_strip + level1: electric_appliance + level2: power_strip + level3: null + level4: null + level5: null +- object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null +- object_name: soda + level1: drink + level2: soda + level3: null + level4: null + level5: null +- object_name: lime + level1: fruit + level2: lime + level3: null + level4: null + level5: null +- object_name: coffee_capsule + level1: drink + level2: coffee_capsule + level3: null + level4: null + level5: null +- object_name: dish + level1: container + level2: dish + level3: null + level4: null + level5: null +- object_name: glass + level1: furniture + level2: glass + level3: null + level4: null + level5: null +- object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null +- object_name: glasses_case + level1: daily_necessities + level2: glasses_case + level3: null + level4: null + level5: null +- object_name: gum + level1: daily_necessities + level2: gum + level3: null + level4: null + level5: null +- object_name: tape + level1: daily_necessities + level2: tape + level3: null + level4: null + level5: null +- object_name: soft_cleanser + level1: daily_necessities + level2: soft_cleanser + level3: null + level4: null + level5: null +- object_name: chips + level1: food + level2: chips + level3: null + level4: null + level5: null +- object_name: chocolate + level1: food + level2: chocolate + level3: null + level4: null + level5: null +- object_name: cookie + level1: food + level2: cookie + level3: null + level4: null + level5: null +- object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null +path: R1_Lite_move_the_position_of_the_long_bread +video_url: ./assets/videos/R1_Lite_move_the_position_of_the_long_bread.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_move_the_position_of_the_long_bread.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 344.7MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 31 + total_frames: 9249 + total_tasks: 1 + total_videos: 124 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:30 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put the long bread the designated position. +sub_tasks: +- Grasp the long bread with right gripper +- Grasp the long bread with left gripper +- Place the long bread on the table with right gripper +- Place the long bread on the table with left gripper +- Abnormal +- Static +- End +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_left_rgb + name: cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_rgb + name: cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +action_space: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_move_the_position_of_the_long_bread_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 28 + dataset_name: move_the_position_of_the_long_bread + dataset_uuid: bdee9310-93d0-4808-a0ad-4ca01b25ac9f + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/put_the_long_bread/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_move_the_position_of_the_long_bread + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: move_the_position_of_the_long_bread + dataset_uuid: null + task_descriptions: + - put the long bread the designated position. + scene_type: + - home + atomic_actions: + - place + - pick + - grasp + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null + - object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null + - object_name: bath_ball + level1: daily_necessities + level2: bath_ball + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: can + level1: container + level2: can + level3: null + level4: null + level5: null + - object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null + - object_name: hard_cleanser + level1: daily_necessities + level2: hard_cleanser + level3: null + level4: null + level5: null + - object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null + - object_name: peeler + level1: tool + level2: peeler + level3: null + level4: null + level5: null + - object_name: block + level1: toy + level2: block + level3: null + level4: null + level5: null + - object_name: duck + level1: toy + level2: duck + level3: null + level4: null + level5: null + - object_name: soap + level1: daily_necessities + level2: soap + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + - object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null + - object_name: detergent + level1: daily_necessities + level2: detergent + level3: null + level4: null + level5: null + - object_name: egg_beater + level1: electrical_appliances + level2: egg_beater + level3: null + level4: null + level5: null + - object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null + - object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null + - object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null + - object_name: marker + level1: office_supplies + level2: marker + level3: null + level4: null + level5: null + - object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null + - object_name: bread_slice + level1: food + level2: bread_slice + level3: null + level4: null + level5: null + - object_name: brush + level1: daily_necessities + level2: brush + level3: null + level4: null + level5: null + - object_name: yogurt + level1: drink + level2: yogurt + level3: null + level4: null + level5: null + - object_name: power_strip + level1: electric_appliance + level2: power_strip + level3: null + level4: null + level5: null + - object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null + - object_name: soda + level1: drink + level2: soda + level3: null + level4: null + level5: null + - object_name: lime + level1: fruit + level2: lime + level3: null + level4: null + level5: null + - object_name: coffee_capsule + level1: drink + level2: coffee_capsule + level3: null + level4: null + level5: null + - object_name: dish + level1: container + level2: dish + level3: null + level4: null + level5: null + - object_name: glass + level1: furniture + level2: glass + level3: null + level4: null + level5: null + - object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null + - object_name: glasses_case + level1: daily_necessities + level2: glasses_case + level3: null + level4: null + level5: null + - object_name: gum + level1: daily_necessities + level2: gum + level3: null + level4: null + level5: null + - object_name: tape + level1: daily_necessities + level2: tape + level3: null + level4: null + level5: null + - object_name: soft_cleanser + level1: daily_necessities + level2: soft_cleanser + level3: null + level4: null + level5: null + - object_name: chips + level1: food + level2: chips + level3: null + level4: null + level5: null + - object_name: chocolate + level1: food + level2: chocolate + level3: null + level4: null + level5: null + - object_name: cookie + level1: food + level2: cookie + level3: null + level4: null + level5: null + - object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 31 + total_frames: 9249 + total_tasks: 1 + total_videos: 124 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:30 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_move_the_position_of_the_milk.yaml b/dataset_info/R1_Lite_move_the_position_of_the_milk.yaml new file mode 100644 index 0000000000000000000000000000000000000000..93db7cd47823a72736b852187e0eb91d9ccfab1e --- /dev/null +++ b/dataset_info/R1_Lite_move_the_position_of_the_milk.yaml @@ -0,0 +1,1365 @@ +dataset_name: move_the_position_of_the_milk +dataset_uuid: 945013f7-9a63-4c59-af10-4ad4df23d67f +scene_type: +- home +atomic_actions: +- place +- pick +- grasp +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null +- object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null +- object_name: bath_ball + level1: daily_necessities + level2: bath_ball + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: can + level1: container + level2: can + level3: null + level4: null + level5: null +- object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null +- object_name: hard_cleanser + level1: daily_necessities + level2: hard_cleanser + level3: null + level4: null + level5: null +- object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null +- object_name: peeler + level1: tool + level2: peeler + level3: null + level4: null + level5: null +- object_name: block + level1: toy + level2: block + level3: null + level4: null + level5: null +- object_name: duck + level1: toy + level2: duck + level3: null + level4: null + level5: null +- object_name: soap + level1: daily_necessities + level2: soap + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +- object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null +- object_name: detergent + level1: daily_necessities + level2: detergent + level3: null + level4: null + level5: null +- object_name: egg_beater + level1: electrical_appliances + level2: egg_beater + level3: null + level4: null + level5: null +- object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null +- object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null +- object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null +- object_name: marker + level1: office_supplies + level2: marker + level3: null + level4: null + level5: null +- object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null +- object_name: bread_slice + level1: food + level2: bread_slice + level3: null + level4: null + level5: null +- object_name: brush + level1: daily_necessities + level2: brush + level3: null + level4: null + level5: null +- object_name: yogurt + level1: drink + level2: yogurt + level3: null + level4: null + level5: null +- object_name: power_strip + level1: electric_appliance + level2: power_strip + level3: null + level4: null + level5: null +- object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null +- object_name: soda + level1: drink + level2: soda + level3: null + level4: null + level5: null +- object_name: lime + level1: fruit + level2: lime + level3: null + level4: null + level5: null +- object_name: coffee_capsule + level1: drink + level2: coffee_capsule + level3: null + level4: null + level5: null +- object_name: dish + level1: container + level2: dish + level3: null + level4: null + level5: null +- object_name: glass + level1: furniture + level2: glass + level3: null + level4: null + level5: null +- object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null +- object_name: glasses_case + level1: daily_necessities + level2: glasses_case + level3: null + level4: null + level5: null +- object_name: gum + level1: daily_necessities + level2: gum + level3: null + level4: null + level5: null +- object_name: tape + level1: daily_necessities + level2: tape + level3: null + level4: null + level5: null +- object_name: soft_cleanser + level1: daily_necessities + level2: soft_cleanser + level3: null + level4: null + level5: null +- object_name: chips + level1: food + level2: chips + level3: null + level4: null + level5: null +- object_name: chocolate + level1: food + level2: chocolate + level3: null + level4: null + level5: null +- object_name: cookie + level1: food + level2: cookie + level3: null + level4: null + level5: null +- object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null +path: R1_Lite_move_the_position_of_the_milk +video_url: ./assets/videos/R1_Lite_move_the_position_of_the_milk.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_move_the_position_of_the_milk.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 421.8MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 59 + total_frames: 12898 + total_tasks: 1 + total_videos: 236 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:58 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put the milk the designated position. +sub_tasks: +- Grasp the wangzai milk with left gripper +- Place the wangzai milk on the table with right gripper +- Static +- Place the wangzai milk on the table with left gripper +- Grasp the wangzai milk with right gripper +- End +- Abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_left_rgb + name: cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_rgb + name: cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +action_space: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_move_the_position_of_the_milk_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 24 + dataset_name: move_the_position_of_the_milk + dataset_uuid: 945013f7-9a63-4c59-af10-4ad4df23d67f + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/put_the_milk/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_move_the_position_of_the_milk + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: move_the_position_of_the_milk + dataset_uuid: null + task_descriptions: + - put the milk the designated position. + scene_type: + - home + atomic_actions: + - place + - pick + - grasp + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null + - object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null + - object_name: bath_ball + level1: daily_necessities + level2: bath_ball + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: can + level1: container + level2: can + level3: null + level4: null + level5: null + - object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null + - object_name: hard_cleanser + level1: daily_necessities + level2: hard_cleanser + level3: null + level4: null + level5: null + - object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null + - object_name: peeler + level1: tool + level2: peeler + level3: null + level4: null + level5: null + - object_name: block + level1: toy + level2: block + level3: null + level4: null + level5: null + - object_name: duck + level1: toy + level2: duck + level3: null + level4: null + level5: null + - object_name: soap + level1: daily_necessities + level2: soap + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + - object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null + - object_name: detergent + level1: daily_necessities + level2: detergent + level3: null + level4: null + level5: null + - object_name: egg_beater + level1: electrical_appliances + level2: egg_beater + level3: null + level4: null + level5: null + - object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null + - object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null + - object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null + - object_name: marker + level1: office_supplies + level2: marker + level3: null + level4: null + level5: null + - object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null + - object_name: bread_slice + level1: food + level2: bread_slice + level3: null + level4: null + level5: null + - object_name: brush + level1: daily_necessities + level2: brush + level3: null + level4: null + level5: null + - object_name: yogurt + level1: drink + level2: yogurt + level3: null + level4: null + level5: null + - object_name: power_strip + level1: electric_appliance + level2: power_strip + level3: null + level4: null + level5: null + - object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null + - object_name: soda + level1: drink + level2: soda + level3: null + level4: null + level5: null + - object_name: lime + level1: fruit + level2: lime + level3: null + level4: null + level5: null + - object_name: coffee_capsule + level1: drink + level2: coffee_capsule + level3: null + level4: null + level5: null + - object_name: dish + level1: container + level2: dish + level3: null + level4: null + level5: null + - object_name: glass + level1: furniture + level2: glass + level3: null + level4: null + level5: null + - object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null + - object_name: glasses_case + level1: daily_necessities + level2: glasses_case + level3: null + level4: null + level5: null + - object_name: gum + level1: daily_necessities + level2: gum + level3: null + level4: null + level5: null + - object_name: tape + level1: daily_necessities + level2: tape + level3: null + level4: null + level5: null + - object_name: soft_cleanser + level1: daily_necessities + level2: soft_cleanser + level3: null + level4: null + level5: null + - object_name: chips + level1: food + level2: chips + level3: null + level4: null + level5: null + - object_name: chocolate + level1: food + level2: chocolate + level3: null + level4: null + level5: null + - object_name: cookie + level1: food + level2: cookie + level3: null + level4: null + level5: null + - object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 59 + total_frames: 12898 + total_tasks: 1 + total_videos: 236 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:58 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_move_the_position_of_the_orange.yaml b/dataset_info/R1_Lite_move_the_position_of_the_orange.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c623eff98a2b327459befaf21c44c2116dd6355f --- /dev/null +++ b/dataset_info/R1_Lite_move_the_position_of_the_orange.yaml @@ -0,0 +1,1364 @@ +dataset_name: move_the_position_of_the_orange +dataset_uuid: 5cff8c7f-bc80-41be-87f4-5cc1b132ed1c +scene_type: +- home +atomic_actions: +- place +- pick +- grasp +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null +- object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null +- object_name: bath_ball + level1: daily_necessities + level2: bath_ball + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: can + level1: container + level2: can + level3: null + level4: null + level5: null +- object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null +- object_name: hard_cleanser + level1: daily_necessities + level2: hard_cleanser + level3: null + level4: null + level5: null +- object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null +- object_name: peeler + level1: tool + level2: peeler + level3: null + level4: null + level5: null +- object_name: block + level1: toy + level2: block + level3: null + level4: null + level5: null +- object_name: duck + level1: toy + level2: duck + level3: null + level4: null + level5: null +- object_name: soap + level1: daily_necessities + level2: soap + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +- object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null +- object_name: detergent + level1: daily_necessities + level2: detergent + level3: null + level4: null + level5: null +- object_name: egg_beater + level1: electrical_appliances + level2: egg_beater + level3: null + level4: null + level5: null +- object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null +- object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null +- object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null +- object_name: marker + level1: office_supplies + level2: marker + level3: null + level4: null + level5: null +- object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null +- object_name: bread_slice + level1: food + level2: bread_slice + level3: null + level4: null + level5: null +- object_name: brush + level1: daily_necessities + level2: brush + level3: null + level4: null + level5: null +- object_name: yogurt + level1: drink + level2: yogurt + level3: null + level4: null + level5: null +- object_name: power_strip + level1: electric_appliance + level2: power_strip + level3: null + level4: null + level5: null +- object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null +- object_name: soda + level1: drink + level2: soda + level3: null + level4: null + level5: null +- object_name: lime + level1: fruit + level2: lime + level3: null + level4: null + level5: null +- object_name: coffee_capsule + level1: drink + level2: coffee_capsule + level3: null + level4: null + level5: null +- object_name: dish + level1: container + level2: dish + level3: null + level4: null + level5: null +- object_name: glass + level1: furniture + level2: glass + level3: null + level4: null + level5: null +- object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null +- object_name: glasses_case + level1: daily_necessities + level2: glasses_case + level3: null + level4: null + level5: null +- object_name: gum + level1: daily_necessities + level2: gum + level3: null + level4: null + level5: null +- object_name: tape + level1: daily_necessities + level2: tape + level3: null + level4: null + level5: null +- object_name: soft_cleanser + level1: daily_necessities + level2: soft_cleanser + level3: null + level4: null + level5: null +- object_name: chips + level1: food + level2: chips + level3: null + level4: null + level5: null +- object_name: chocolate + level1: food + level2: chocolate + level3: null + level4: null + level5: null +- object_name: cookie + level1: food + level2: cookie + level3: null + level4: null + level5: null +- object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null +path: R1_Lite_move_the_position_of_the_orange +video_url: ./assets/videos/R1_Lite_move_the_position_of_the_orange.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_move_the_position_of_the_orange.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 550.2MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 42 + total_frames: 15074 + total_tasks: 1 + total_videos: 168 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:41 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put the orange the designated position. +sub_tasks: +- End +- Place the orange on the table with right gripper +- Grasp the orange with right gripper +- Place the orange on the table with left gripper +- Grasp the orange with left gripper +- Static +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_left_rgb + name: cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_rgb + name: cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +action_space: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_move_the_position_of_the_orange_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 25 + dataset_name: move_the_position_of_the_orange + dataset_uuid: 5cff8c7f-bc80-41be-87f4-5cc1b132ed1c + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/put_the_orange/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_move_the_position_of_the_orange + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: move_the_position_of_the_orange + dataset_uuid: null + task_descriptions: + - put the orange the designated position. + scene_type: + - home + atomic_actions: + - place + - pick + - grasp + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null + - object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null + - object_name: bath_ball + level1: daily_necessities + level2: bath_ball + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: can + level1: container + level2: can + level3: null + level4: null + level5: null + - object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null + - object_name: hard_cleanser + level1: daily_necessities + level2: hard_cleanser + level3: null + level4: null + level5: null + - object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null + - object_name: peeler + level1: tool + level2: peeler + level3: null + level4: null + level5: null + - object_name: block + level1: toy + level2: block + level3: null + level4: null + level5: null + - object_name: duck + level1: toy + level2: duck + level3: null + level4: null + level5: null + - object_name: soap + level1: daily_necessities + level2: soap + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + - object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null + - object_name: detergent + level1: daily_necessities + level2: detergent + level3: null + level4: null + level5: null + - object_name: egg_beater + level1: electrical_appliances + level2: egg_beater + level3: null + level4: null + level5: null + - object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null + - object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null + - object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null + - object_name: marker + level1: office_supplies + level2: marker + level3: null + level4: null + level5: null + - object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null + - object_name: bread_slice + level1: food + level2: bread_slice + level3: null + level4: null + level5: null + - object_name: brush + level1: daily_necessities + level2: brush + level3: null + level4: null + level5: null + - object_name: yogurt + level1: drink + level2: yogurt + level3: null + level4: null + level5: null + - object_name: power_strip + level1: electric_appliance + level2: power_strip + level3: null + level4: null + level5: null + - object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null + - object_name: soda + level1: drink + level2: soda + level3: null + level4: null + level5: null + - object_name: lime + level1: fruit + level2: lime + level3: null + level4: null + level5: null + - object_name: coffee_capsule + level1: drink + level2: coffee_capsule + level3: null + level4: null + level5: null + - object_name: dish + level1: container + level2: dish + level3: null + level4: null + level5: null + - object_name: glass + level1: furniture + level2: glass + level3: null + level4: null + level5: null + - object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null + - object_name: glasses_case + level1: daily_necessities + level2: glasses_case + level3: null + level4: null + level5: null + - object_name: gum + level1: daily_necessities + level2: gum + level3: null + level4: null + level5: null + - object_name: tape + level1: daily_necessities + level2: tape + level3: null + level4: null + level5: null + - object_name: soft_cleanser + level1: daily_necessities + level2: soft_cleanser + level3: null + level4: null + level5: null + - object_name: chips + level1: food + level2: chips + level3: null + level4: null + level5: null + - object_name: chocolate + level1: food + level2: chocolate + level3: null + level4: null + level5: null + - object_name: cookie + level1: food + level2: cookie + level3: null + level4: null + level5: null + - object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 42 + total_frames: 15074 + total_tasks: 1 + total_videos: 168 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:41 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_move_the_position_of_the_peeler.yaml b/dataset_info/R1_Lite_move_the_position_of_the_peeler.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7b068dae3ac7bb3d2223ab63b72c76fc38b65b29 --- /dev/null +++ b/dataset_info/R1_Lite_move_the_position_of_the_peeler.yaml @@ -0,0 +1,1364 @@ +dataset_name: move_the_position_of_the_peeler +dataset_uuid: 32cc9e19-b5a0-4f09-a124-2f042003a5ed +scene_type: +- home +atomic_actions: +- place +- pick +- grasp +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null +- object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null +- object_name: bath_ball + level1: daily_necessities + level2: bath_ball + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: can + level1: container + level2: can + level3: null + level4: null + level5: null +- object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null +- object_name: hard_cleanser + level1: daily_necessities + level2: hard_cleanser + level3: null + level4: null + level5: null +- object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null +- object_name: peeler + level1: tool + level2: peeler + level3: null + level4: null + level5: null +- object_name: block + level1: toy + level2: block + level3: null + level4: null + level5: null +- object_name: duck + level1: toy + level2: duck + level3: null + level4: null + level5: null +- object_name: soap + level1: daily_necessities + level2: soap + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +- object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null +- object_name: detergent + level1: daily_necessities + level2: detergent + level3: null + level4: null + level5: null +- object_name: egg_beater + level1: electrical_appliances + level2: egg_beater + level3: null + level4: null + level5: null +- object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null +- object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null +- object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null +- object_name: marker + level1: office_supplies + level2: marker + level3: null + level4: null + level5: null +- object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null +- object_name: bread_slice + level1: food + level2: bread_slice + level3: null + level4: null + level5: null +- object_name: brush + level1: daily_necessities + level2: brush + level3: null + level4: null + level5: null +- object_name: yogurt + level1: drink + level2: yogurt + level3: null + level4: null + level5: null +- object_name: power_strip + level1: electric_appliance + level2: power_strip + level3: null + level4: null + level5: null +- object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null +- object_name: soda + level1: drink + level2: soda + level3: null + level4: null + level5: null +- object_name: lime + level1: fruit + level2: lime + level3: null + level4: null + level5: null +- object_name: coffee_capsule + level1: drink + level2: coffee_capsule + level3: null + level4: null + level5: null +- object_name: dish + level1: container + level2: dish + level3: null + level4: null + level5: null +- object_name: glass + level1: furniture + level2: glass + level3: null + level4: null + level5: null +- object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null +- object_name: glasses_case + level1: daily_necessities + level2: glasses_case + level3: null + level4: null + level5: null +- object_name: gum + level1: daily_necessities + level2: gum + level3: null + level4: null + level5: null +- object_name: tape + level1: daily_necessities + level2: tape + level3: null + level4: null + level5: null +- object_name: soft_cleanser + level1: daily_necessities + level2: soft_cleanser + level3: null + level4: null + level5: null +- object_name: chips + level1: food + level2: chips + level3: null + level4: null + level5: null +- object_name: chocolate + level1: food + level2: chocolate + level3: null + level4: null + level5: null +- object_name: cookie + level1: food + level2: cookie + level3: null + level4: null + level5: null +- object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null +path: R1_Lite_move_the_position_of_the_peeler +video_url: ./assets/videos/R1_Lite_move_the_position_of_the_peeler.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_move_the_position_of_the_peeler.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 369.6MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 43 + total_frames: 10477 + total_tasks: 1 + total_videos: 172 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:42 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put the peeler the designated position. +sub_tasks: +- Grasp the peeler with right gripper +- Static +- Grasp the peeler with left gripper +- End +- Place the peeler on the table with right gripper +- Place the peeler on the table with left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_left_rgb + name: cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_rgb + name: cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +action_space: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_move_the_position_of_the_peeler_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 26 + dataset_name: move_the_position_of_the_peeler + dataset_uuid: 32cc9e19-b5a0-4f09-a124-2f042003a5ed + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/put_the_peeler/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_move_the_position_of_the_peeler + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: move_the_position_of_the_peeler + dataset_uuid: null + task_descriptions: + - put the peeler the designated position. + scene_type: + - home + atomic_actions: + - place + - pick + - grasp + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null + - object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null + - object_name: bath_ball + level1: daily_necessities + level2: bath_ball + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: can + level1: container + level2: can + level3: null + level4: null + level5: null + - object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null + - object_name: hard_cleanser + level1: daily_necessities + level2: hard_cleanser + level3: null + level4: null + level5: null + - object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null + - object_name: peeler + level1: tool + level2: peeler + level3: null + level4: null + level5: null + - object_name: block + level1: toy + level2: block + level3: null + level4: null + level5: null + - object_name: duck + level1: toy + level2: duck + level3: null + level4: null + level5: null + - object_name: soap + level1: daily_necessities + level2: soap + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + - object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null + - object_name: detergent + level1: daily_necessities + level2: detergent + level3: null + level4: null + level5: null + - object_name: egg_beater + level1: electrical_appliances + level2: egg_beater + level3: null + level4: null + level5: null + - object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null + - object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null + - object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null + - object_name: marker + level1: office_supplies + level2: marker + level3: null + level4: null + level5: null + - object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null + - object_name: bread_slice + level1: food + level2: bread_slice + level3: null + level4: null + level5: null + - object_name: brush + level1: daily_necessities + level2: brush + level3: null + level4: null + level5: null + - object_name: yogurt + level1: drink + level2: yogurt + level3: null + level4: null + level5: null + - object_name: power_strip + level1: electric_appliance + level2: power_strip + level3: null + level4: null + level5: null + - object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null + - object_name: soda + level1: drink + level2: soda + level3: null + level4: null + level5: null + - object_name: lime + level1: fruit + level2: lime + level3: null + level4: null + level5: null + - object_name: coffee_capsule + level1: drink + level2: coffee_capsule + level3: null + level4: null + level5: null + - object_name: dish + level1: container + level2: dish + level3: null + level4: null + level5: null + - object_name: glass + level1: furniture + level2: glass + level3: null + level4: null + level5: null + - object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null + - object_name: glasses_case + level1: daily_necessities + level2: glasses_case + level3: null + level4: null + level5: null + - object_name: gum + level1: daily_necessities + level2: gum + level3: null + level4: null + level5: null + - object_name: tape + level1: daily_necessities + level2: tape + level3: null + level4: null + level5: null + - object_name: soft_cleanser + level1: daily_necessities + level2: soft_cleanser + level3: null + level4: null + level5: null + - object_name: chips + level1: food + level2: chips + level3: null + level4: null + level5: null + - object_name: chocolate + level1: food + level2: chocolate + level3: null + level4: null + level5: null + - object_name: cookie + level1: food + level2: cookie + level3: null + level4: null + level5: null + - object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 43 + total_frames: 10477 + total_tasks: 1 + total_videos: 172 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:42 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_move_the_position_of_the_pen.yaml b/dataset_info/R1_Lite_move_the_position_of_the_pen.yaml new file mode 100644 index 0000000000000000000000000000000000000000..be40f43efd6a13886d438ff578102da8a93c7893 --- /dev/null +++ b/dataset_info/R1_Lite_move_the_position_of_the_pen.yaml @@ -0,0 +1,1367 @@ +dataset_name: move_the_position_of_the_pen +dataset_uuid: e974fb54-b565-4fa5-989e-a0c551c6d140 +scene_type: +- office +- home +atomic_actions: +- place +- pick +- grasp +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null +- object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null +- object_name: bath_ball + level1: daily_necessities + level2: bath_ball + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: can + level1: container + level2: can + level3: null + level4: null + level5: null +- object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null +- object_name: hard_cleanser + level1: daily_necessities + level2: hard_cleanser + level3: null + level4: null + level5: null +- object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null +- object_name: peeler + level1: tool + level2: peeler + level3: null + level4: null + level5: null +- object_name: block + level1: toy + level2: block + level3: null + level4: null + level5: null +- object_name: duck + level1: toy + level2: duck + level3: null + level4: null + level5: null +- object_name: soap + level1: daily_necessities + level2: soap + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +- object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null +- object_name: detergent + level1: daily_necessities + level2: detergent + level3: null + level4: null + level5: null +- object_name: egg_beater + level1: electrical_appliances + level2: egg_beater + level3: null + level4: null + level5: null +- object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null +- object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null +- object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null +- object_name: marker + level1: office_supplies + level2: marker + level3: null + level4: null + level5: null +- object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null +- object_name: bread_slice + level1: food + level2: bread_slice + level3: null + level4: null + level5: null +- object_name: brush + level1: daily_necessities + level2: brush + level3: null + level4: null + level5: null +- object_name: yogurt + level1: drink + level2: yogurt + level3: null + level4: null + level5: null +- object_name: power_strip + level1: electric_appliance + level2: power_strip + level3: null + level4: null + level5: null +- object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null +- object_name: soda + level1: drink + level2: soda + level3: null + level4: null + level5: null +- object_name: lime + level1: fruit + level2: lime + level3: null + level4: null + level5: null +- object_name: coffee_capsule + level1: drink + level2: coffee_capsule + level3: null + level4: null + level5: null +- object_name: dish + level1: container + level2: dish + level3: null + level4: null + level5: null +- object_name: glass + level1: furniture + level2: glass + level3: null + level4: null + level5: null +- object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null +- object_name: glasses_case + level1: daily_necessities + level2: glasses_case + level3: null + level4: null + level5: null +- object_name: gum + level1: daily_necessities + level2: gum + level3: null + level4: null + level5: null +- object_name: tape + level1: daily_necessities + level2: tape + level3: null + level4: null + level5: null +- object_name: soft_cleanser + level1: daily_necessities + level2: soft_cleanser + level3: null + level4: null + level5: null +- object_name: chips + level1: food + level2: chips + level3: null + level4: null + level5: null +- object_name: chocolate + level1: food + level2: chocolate + level3: null + level4: null + level5: null +- object_name: cookie + level1: food + level2: cookie + level3: null + level4: null + level5: null +- object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null +path: R1_Lite_move_the_position_of_the_pen +video_url: ./assets/videos/R1_Lite_move_the_position_of_the_pen.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_move_the_position_of_the_pen.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 362.3MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 31 + total_frames: 11495 + total_tasks: 1 + total_videos: 124 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:30 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put the pen in the designated position. +sub_tasks: +- End +- Place the sign pen on the table with right gripper +- Grasp the sign pen with left gripper +- Place the sign pen on the table with left gripper +- Grasp the sign pen with right gripper +- Static +- Abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_left_rgb + name: cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_rgb + name: cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +action_space: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_move_the_position_of_the_pen_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 32 + dataset_name: move_the_position_of_the_pen + dataset_uuid: e974fb54-b565-4fa5-989e-a0c551c6d140 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/put_the_pen/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_move_the_position_of_the_pen + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: move_the_position_of_the_pen + dataset_uuid: null + task_descriptions: + - put the pen in the designated position. + scene_type: + - office + - home + atomic_actions: + - place + - pick + - grasp + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null + - object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null + - object_name: bath_ball + level1: daily_necessities + level2: bath_ball + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: can + level1: container + level2: can + level3: null + level4: null + level5: null + - object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null + - object_name: hard_cleanser + level1: daily_necessities + level2: hard_cleanser + level3: null + level4: null + level5: null + - object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null + - object_name: peeler + level1: tool + level2: peeler + level3: null + level4: null + level5: null + - object_name: block + level1: toy + level2: block + level3: null + level4: null + level5: null + - object_name: duck + level1: toy + level2: duck + level3: null + level4: null + level5: null + - object_name: soap + level1: daily_necessities + level2: soap + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + - object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null + - object_name: detergent + level1: daily_necessities + level2: detergent + level3: null + level4: null + level5: null + - object_name: egg_beater + level1: electrical_appliances + level2: egg_beater + level3: null + level4: null + level5: null + - object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null + - object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null + - object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null + - object_name: marker + level1: office_supplies + level2: marker + level3: null + level4: null + level5: null + - object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null + - object_name: bread_slice + level1: food + level2: bread_slice + level3: null + level4: null + level5: null + - object_name: brush + level1: daily_necessities + level2: brush + level3: null + level4: null + level5: null + - object_name: yogurt + level1: drink + level2: yogurt + level3: null + level4: null + level5: null + - object_name: power_strip + level1: electric_appliance + level2: power_strip + level3: null + level4: null + level5: null + - object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null + - object_name: soda + level1: drink + level2: soda + level3: null + level4: null + level5: null + - object_name: lime + level1: fruit + level2: lime + level3: null + level4: null + level5: null + - object_name: coffee_capsule + level1: drink + level2: coffee_capsule + level3: null + level4: null + level5: null + - object_name: dish + level1: container + level2: dish + level3: null + level4: null + level5: null + - object_name: glass + level1: furniture + level2: glass + level3: null + level4: null + level5: null + - object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null + - object_name: glasses_case + level1: daily_necessities + level2: glasses_case + level3: null + level4: null + level5: null + - object_name: gum + level1: daily_necessities + level2: gum + level3: null + level4: null + level5: null + - object_name: tape + level1: daily_necessities + level2: tape + level3: null + level4: null + level5: null + - object_name: soft_cleanser + level1: daily_necessities + level2: soft_cleanser + level3: null + level4: null + level5: null + - object_name: chips + level1: food + level2: chips + level3: null + level4: null + level5: null + - object_name: chocolate + level1: food + level2: chocolate + level3: null + level4: null + level5: null + - object_name: cookie + level1: food + level2: cookie + level3: null + level4: null + level5: null + - object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 31 + total_frames: 11495 + total_tasks: 1 + total_videos: 124 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:30 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_move_the_position_of_the_rubiks_cube.yaml b/dataset_info/R1_Lite_move_the_position_of_the_rubiks_cube.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c35da985875e6ee70584841064859089051b8141 --- /dev/null +++ b/dataset_info/R1_Lite_move_the_position_of_the_rubiks_cube.yaml @@ -0,0 +1,1364 @@ +dataset_name: move_the_position_of_the_rubiks_cube +dataset_uuid: fe0a75c5-bab5-4e43-9502-081da6770b61 +scene_type: +- home +atomic_actions: +- place +- pick +- grasp +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null +- object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null +- object_name: bath_ball + level1: daily_necessities + level2: bath_ball + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: can + level1: container + level2: can + level3: null + level4: null + level5: null +- object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null +- object_name: hard_cleanser + level1: daily_necessities + level2: hard_cleanser + level3: null + level4: null + level5: null +- object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null +- object_name: peeler + level1: tool + level2: peeler + level3: null + level4: null + level5: null +- object_name: block + level1: toy + level2: block + level3: null + level4: null + level5: null +- object_name: duck + level1: toy + level2: duck + level3: null + level4: null + level5: null +- object_name: soap + level1: daily_necessities + level2: soap + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +- object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null +- object_name: detergent + level1: daily_necessities + level2: detergent + level3: null + level4: null + level5: null +- object_name: egg_beater + level1: electrical_appliances + level2: egg_beater + level3: null + level4: null + level5: null +- object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null +- object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null +- object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null +- object_name: marker + level1: office_supplies + level2: marker + level3: null + level4: null + level5: null +- object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null +- object_name: bread_slice + level1: food + level2: bread_slice + level3: null + level4: null + level5: null +- object_name: brush + level1: daily_necessities + level2: brush + level3: null + level4: null + level5: null +- object_name: yogurt + level1: drink + level2: yogurt + level3: null + level4: null + level5: null +- object_name: power_strip + level1: electric_appliance + level2: power_strip + level3: null + level4: null + level5: null +- object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null +- object_name: soda + level1: drink + level2: soda + level3: null + level4: null + level5: null +- object_name: lime + level1: fruit + level2: lime + level3: null + level4: null + level5: null +- object_name: coffee_capsule + level1: drink + level2: coffee_capsule + level3: null + level4: null + level5: null +- object_name: dish + level1: container + level2: dish + level3: null + level4: null + level5: null +- object_name: glass + level1: furniture + level2: glass + level3: null + level4: null + level5: null +- object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null +- object_name: glasses_case + level1: daily_necessities + level2: glasses_case + level3: null + level4: null + level5: null +- object_name: gum + level1: daily_necessities + level2: gum + level3: null + level4: null + level5: null +- object_name: tape + level1: daily_necessities + level2: tape + level3: null + level4: null + level5: null +- object_name: soft_cleanser + level1: daily_necessities + level2: soft_cleanser + level3: null + level4: null + level5: null +- object_name: chips + level1: food + level2: chips + level3: null + level4: null + level5: null +- object_name: chocolate + level1: food + level2: chocolate + level3: null + level4: null + level5: null +- object_name: cookie + level1: food + level2: cookie + level3: null + level4: null + level5: null +- object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null +path: R1_Lite_move_the_position_of_the_rubiks_cube +video_url: ./assets/videos/R1_Lite_move_the_position_of_the_rubiks_cube.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_move_the_position_of_the_rubiks_cube.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 328.4MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 44 + total_frames: 9055 + total_tasks: 1 + total_videos: 176 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:43 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put the rubiks cube the designated position. +sub_tasks: +- End +- Place the magic cube on the table with right gripper +- Place the magic cube on the table with left gripper +- Static +- Grasp the magic cube with left gripper +- Grasp the magic cube with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_left_rgb + name: cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_rgb + name: cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +action_space: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_move_the_position_of_the_rubiks_cube_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 23 + dataset_name: move_the_position_of_the_rubiks_cube + dataset_uuid: fe0a75c5-bab5-4e43-9502-081da6770b61 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/put_the_rubiks_cube/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_move_the_position_of_the_rubiks_cube + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: move_the_position_of_the_rubiks_cube + dataset_uuid: null + task_descriptions: + - put the rubiks cube the designated position. + scene_type: + - home + atomic_actions: + - place + - pick + - grasp + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null + - object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null + - object_name: bath_ball + level1: daily_necessities + level2: bath_ball + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: can + level1: container + level2: can + level3: null + level4: null + level5: null + - object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null + - object_name: hard_cleanser + level1: daily_necessities + level2: hard_cleanser + level3: null + level4: null + level5: null + - object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null + - object_name: peeler + level1: tool + level2: peeler + level3: null + level4: null + level5: null + - object_name: block + level1: toy + level2: block + level3: null + level4: null + level5: null + - object_name: duck + level1: toy + level2: duck + level3: null + level4: null + level5: null + - object_name: soap + level1: daily_necessities + level2: soap + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + - object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null + - object_name: detergent + level1: daily_necessities + level2: detergent + level3: null + level4: null + level5: null + - object_name: egg_beater + level1: electrical_appliances + level2: egg_beater + level3: null + level4: null + level5: null + - object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null + - object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null + - object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null + - object_name: marker + level1: office_supplies + level2: marker + level3: null + level4: null + level5: null + - object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null + - object_name: bread_slice + level1: food + level2: bread_slice + level3: null + level4: null + level5: null + - object_name: brush + level1: daily_necessities + level2: brush + level3: null + level4: null + level5: null + - object_name: yogurt + level1: drink + level2: yogurt + level3: null + level4: null + level5: null + - object_name: power_strip + level1: electric_appliance + level2: power_strip + level3: null + level4: null + level5: null + - object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null + - object_name: soda + level1: drink + level2: soda + level3: null + level4: null + level5: null + - object_name: lime + level1: fruit + level2: lime + level3: null + level4: null + level5: null + - object_name: coffee_capsule + level1: drink + level2: coffee_capsule + level3: null + level4: null + level5: null + - object_name: dish + level1: container + level2: dish + level3: null + level4: null + level5: null + - object_name: glass + level1: furniture + level2: glass + level3: null + level4: null + level5: null + - object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null + - object_name: glasses_case + level1: daily_necessities + level2: glasses_case + level3: null + level4: null + level5: null + - object_name: gum + level1: daily_necessities + level2: gum + level3: null + level4: null + level5: null + - object_name: tape + level1: daily_necessities + level2: tape + level3: null + level4: null + level5: null + - object_name: soft_cleanser + level1: daily_necessities + level2: soft_cleanser + level3: null + level4: null + level5: null + - object_name: chips + level1: food + level2: chips + level3: null + level4: null + level5: null + - object_name: chocolate + level1: food + level2: chocolate + level3: null + level4: null + level5: null + - object_name: cookie + level1: food + level2: cookie + level3: null + level4: null + level5: null + - object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 44 + total_frames: 9055 + total_tasks: 1 + total_videos: 176 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:43 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_move_the_position_of_the_soda.yaml b/dataset_info/R1_Lite_move_the_position_of_the_soda.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d2f14d9c0ccb825efcbc56964ec56a9503162cb5 --- /dev/null +++ b/dataset_info/R1_Lite_move_the_position_of_the_soda.yaml @@ -0,0 +1,1364 @@ +dataset_name: move_the_position_of_the_soda +dataset_uuid: 776f8ed0-31b4-46e5-adbd-d905da18638c +scene_type: +- home +atomic_actions: +- place +- pick +- grasp +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null +- object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null +- object_name: bath_ball + level1: daily_necessities + level2: bath_ball + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: can + level1: container + level2: can + level3: null + level4: null + level5: null +- object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null +- object_name: hard_cleanser + level1: daily_necessities + level2: hard_cleanser + level3: null + level4: null + level5: null +- object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null +- object_name: peeler + level1: tool + level2: peeler + level3: null + level4: null + level5: null +- object_name: block + level1: toy + level2: block + level3: null + level4: null + level5: null +- object_name: duck + level1: toy + level2: duck + level3: null + level4: null + level5: null +- object_name: soap + level1: daily_necessities + level2: soap + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +- object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null +- object_name: detergent + level1: daily_necessities + level2: detergent + level3: null + level4: null + level5: null +- object_name: egg_beater + level1: electrical_appliances + level2: egg_beater + level3: null + level4: null + level5: null +- object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null +- object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null +- object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null +- object_name: marker + level1: office_supplies + level2: marker + level3: null + level4: null + level5: null +- object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null +- object_name: bread_slice + level1: food + level2: bread_slice + level3: null + level4: null + level5: null +- object_name: brush + level1: daily_necessities + level2: brush + level3: null + level4: null + level5: null +- object_name: yogurt + level1: drink + level2: yogurt + level3: null + level4: null + level5: null +- object_name: power_strip + level1: electric_appliance + level2: power_strip + level3: null + level4: null + level5: null +- object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null +- object_name: soda + level1: drink + level2: soda + level3: null + level4: null + level5: null +- object_name: lime + level1: fruit + level2: lime + level3: null + level4: null + level5: null +- object_name: coffee_capsule + level1: drink + level2: coffee_capsule + level3: null + level4: null + level5: null +- object_name: dish + level1: container + level2: dish + level3: null + level4: null + level5: null +- object_name: glass + level1: furniture + level2: glass + level3: null + level4: null + level5: null +- object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null +- object_name: glasses_case + level1: daily_necessities + level2: glasses_case + level3: null + level4: null + level5: null +- object_name: gum + level1: daily_necessities + level2: gum + level3: null + level4: null + level5: null +- object_name: tape + level1: daily_necessities + level2: tape + level3: null + level4: null + level5: null +- object_name: soft_cleanser + level1: daily_necessities + level2: soft_cleanser + level3: null + level4: null + level5: null +- object_name: chips + level1: food + level2: chips + level3: null + level4: null + level5: null +- object_name: chocolate + level1: food + level2: chocolate + level3: null + level4: null + level5: null +- object_name: cookie + level1: food + level2: cookie + level3: null + level4: null + level5: null +- object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null +path: R1_Lite_move_the_position_of_the_soda +video_url: ./assets/videos/R1_Lite_move_the_position_of_the_soda.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_move_the_position_of_the_soda.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 661.0MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 62 + total_frames: 17198 + total_tasks: 1 + total_videos: 248 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:61 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put the soda the designated position. +sub_tasks: +- End +- Grasp the soda water with right gripper +- Place the soda water on the table with right gripper +- Place the soda water on the table with left gripper +- Static +- Grasp the soda water with left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_left_rgb + name: cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_rgb + name: cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +action_space: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_move_the_position_of_the_soda_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 20 + dataset_name: move_the_position_of_the_soda + dataset_uuid: 776f8ed0-31b4-46e5-adbd-d905da18638c + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/put_the_soda/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_move_the_position_of_the_soda + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: move_the_position_of_the_soda + dataset_uuid: null + task_descriptions: + - put the soda the designated position. + scene_type: + - home + atomic_actions: + - place + - pick + - grasp + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null + - object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null + - object_name: bath_ball + level1: daily_necessities + level2: bath_ball + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: can + level1: container + level2: can + level3: null + level4: null + level5: null + - object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null + - object_name: hard_cleanser + level1: daily_necessities + level2: hard_cleanser + level3: null + level4: null + level5: null + - object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null + - object_name: peeler + level1: tool + level2: peeler + level3: null + level4: null + level5: null + - object_name: block + level1: toy + level2: block + level3: null + level4: null + level5: null + - object_name: duck + level1: toy + level2: duck + level3: null + level4: null + level5: null + - object_name: soap + level1: daily_necessities + level2: soap + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + - object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null + - object_name: detergent + level1: daily_necessities + level2: detergent + level3: null + level4: null + level5: null + - object_name: egg_beater + level1: electrical_appliances + level2: egg_beater + level3: null + level4: null + level5: null + - object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null + - object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null + - object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null + - object_name: marker + level1: office_supplies + level2: marker + level3: null + level4: null + level5: null + - object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null + - object_name: bread_slice + level1: food + level2: bread_slice + level3: null + level4: null + level5: null + - object_name: brush + level1: daily_necessities + level2: brush + level3: null + level4: null + level5: null + - object_name: yogurt + level1: drink + level2: yogurt + level3: null + level4: null + level5: null + - object_name: power_strip + level1: electric_appliance + level2: power_strip + level3: null + level4: null + level5: null + - object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null + - object_name: soda + level1: drink + level2: soda + level3: null + level4: null + level5: null + - object_name: lime + level1: fruit + level2: lime + level3: null + level4: null + level5: null + - object_name: coffee_capsule + level1: drink + level2: coffee_capsule + level3: null + level4: null + level5: null + - object_name: dish + level1: container + level2: dish + level3: null + level4: null + level5: null + - object_name: glass + level1: furniture + level2: glass + level3: null + level4: null + level5: null + - object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null + - object_name: glasses_case + level1: daily_necessities + level2: glasses_case + level3: null + level4: null + level5: null + - object_name: gum + level1: daily_necessities + level2: gum + level3: null + level4: null + level5: null + - object_name: tape + level1: daily_necessities + level2: tape + level3: null + level4: null + level5: null + - object_name: soft_cleanser + level1: daily_necessities + level2: soft_cleanser + level3: null + level4: null + level5: null + - object_name: chips + level1: food + level2: chips + level3: null + level4: null + level5: null + - object_name: chocolate + level1: food + level2: chocolate + level3: null + level4: null + level5: null + - object_name: cookie + level1: food + level2: cookie + level3: null + level4: null + level5: null + - object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 62 + total_frames: 17198 + total_tasks: 1 + total_videos: 248 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:61 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_move_the_position_of_the_spoon.yaml b/dataset_info/R1_Lite_move_the_position_of_the_spoon.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c5d082d71f3bc41302bf70aa017850bf922c7095 --- /dev/null +++ b/dataset_info/R1_Lite_move_the_position_of_the_spoon.yaml @@ -0,0 +1,1364 @@ +dataset_name: move_the_position_of_the_spoon +dataset_uuid: ab8d31a7-973b-4328-b3dc-f79488af764f +scene_type: +- home +atomic_actions: +- place +- pick +- grasp +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null +- object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null +- object_name: bath_ball + level1: daily_necessities + level2: bath_ball + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: can + level1: container + level2: can + level3: null + level4: null + level5: null +- object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null +- object_name: hard_cleanser + level1: daily_necessities + level2: hard_cleanser + level3: null + level4: null + level5: null +- object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null +- object_name: peeler + level1: tool + level2: peeler + level3: null + level4: null + level5: null +- object_name: block + level1: toy + level2: block + level3: null + level4: null + level5: null +- object_name: duck + level1: toy + level2: duck + level3: null + level4: null + level5: null +- object_name: soap + level1: daily_necessities + level2: soap + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +- object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null +- object_name: detergent + level1: daily_necessities + level2: detergent + level3: null + level4: null + level5: null +- object_name: egg_beater + level1: electrical_appliances + level2: egg_beater + level3: null + level4: null + level5: null +- object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null +- object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null +- object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null +- object_name: marker + level1: office_supplies + level2: marker + level3: null + level4: null + level5: null +- object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null +- object_name: bread_slice + level1: food + level2: bread_slice + level3: null + level4: null + level5: null +- object_name: brush + level1: daily_necessities + level2: brush + level3: null + level4: null + level5: null +- object_name: yogurt + level1: drink + level2: yogurt + level3: null + level4: null + level5: null +- object_name: power_strip + level1: electric_appliance + level2: power_strip + level3: null + level4: null + level5: null +- object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null +- object_name: soda + level1: drink + level2: soda + level3: null + level4: null + level5: null +- object_name: lime + level1: fruit + level2: lime + level3: null + level4: null + level5: null +- object_name: coffee_capsule + level1: drink + level2: coffee_capsule + level3: null + level4: null + level5: null +- object_name: dish + level1: container + level2: dish + level3: null + level4: null + level5: null +- object_name: glass + level1: furniture + level2: glass + level3: null + level4: null + level5: null +- object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null +- object_name: glasses_case + level1: daily_necessities + level2: glasses_case + level3: null + level4: null + level5: null +- object_name: gum + level1: daily_necessities + level2: gum + level3: null + level4: null + level5: null +- object_name: tape + level1: daily_necessities + level2: tape + level3: null + level4: null + level5: null +- object_name: soft_cleanser + level1: daily_necessities + level2: soft_cleanser + level3: null + level4: null + level5: null +- object_name: chips + level1: food + level2: chips + level3: null + level4: null + level5: null +- object_name: chocolate + level1: food + level2: chocolate + level3: null + level4: null + level5: null +- object_name: cookie + level1: food + level2: cookie + level3: null + level4: null + level5: null +- object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null +path: R1_Lite_move_the_position_of_the_spoon +video_url: ./assets/videos/R1_Lite_move_the_position_of_the_spoon.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_move_the_position_of_the_spoon.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 212.3MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 23 + total_frames: 6550 + total_tasks: 1 + total_videos: 92 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:22 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put the spoon the designated position. +sub_tasks: +- Grasp the spoon with right gripper +- Grasp the spoon with left gripper +- Place the spoon on the table with left gripper +- Static +- End +- Place the spoon on the table with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_left_rgb + name: cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_rgb + name: cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +action_space: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_move_the_position_of_the_spoon_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 22 + dataset_name: move_the_position_of_the_spoon + dataset_uuid: ab8d31a7-973b-4328-b3dc-f79488af764f + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/put_the_spoon/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_move_the_position_of_the_spoon + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: move_the_position_of_the_spoon + dataset_uuid: null + task_descriptions: + - put the spoon the designated position. + scene_type: + - home + atomic_actions: + - place + - pick + - grasp + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null + - object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null + - object_name: bath_ball + level1: daily_necessities + level2: bath_ball + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: can + level1: container + level2: can + level3: null + level4: null + level5: null + - object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null + - object_name: hard_cleanser + level1: daily_necessities + level2: hard_cleanser + level3: null + level4: null + level5: null + - object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null + - object_name: peeler + level1: tool + level2: peeler + level3: null + level4: null + level5: null + - object_name: block + level1: toy + level2: block + level3: null + level4: null + level5: null + - object_name: duck + level1: toy + level2: duck + level3: null + level4: null + level5: null + - object_name: soap + level1: daily_necessities + level2: soap + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + - object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null + - object_name: detergent + level1: daily_necessities + level2: detergent + level3: null + level4: null + level5: null + - object_name: egg_beater + level1: electrical_appliances + level2: egg_beater + level3: null + level4: null + level5: null + - object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null + - object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null + - object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null + - object_name: marker + level1: office_supplies + level2: marker + level3: null + level4: null + level5: null + - object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null + - object_name: bread_slice + level1: food + level2: bread_slice + level3: null + level4: null + level5: null + - object_name: brush + level1: daily_necessities + level2: brush + level3: null + level4: null + level5: null + - object_name: yogurt + level1: drink + level2: yogurt + level3: null + level4: null + level5: null + - object_name: power_strip + level1: electric_appliance + level2: power_strip + level3: null + level4: null + level5: null + - object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null + - object_name: soda + level1: drink + level2: soda + level3: null + level4: null + level5: null + - object_name: lime + level1: fruit + level2: lime + level3: null + level4: null + level5: null + - object_name: coffee_capsule + level1: drink + level2: coffee_capsule + level3: null + level4: null + level5: null + - object_name: dish + level1: container + level2: dish + level3: null + level4: null + level5: null + - object_name: glass + level1: furniture + level2: glass + level3: null + level4: null + level5: null + - object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null + - object_name: glasses_case + level1: daily_necessities + level2: glasses_case + level3: null + level4: null + level5: null + - object_name: gum + level1: daily_necessities + level2: gum + level3: null + level4: null + level5: null + - object_name: tape + level1: daily_necessities + level2: tape + level3: null + level4: null + level5: null + - object_name: soft_cleanser + level1: daily_necessities + level2: soft_cleanser + level3: null + level4: null + level5: null + - object_name: chips + level1: food + level2: chips + level3: null + level4: null + level5: null + - object_name: chocolate + level1: food + level2: chocolate + level3: null + level4: null + level5: null + - object_name: cookie + level1: food + level2: cookie + level3: null + level4: null + level5: null + - object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 23 + total_frames: 6550 + total_tasks: 1 + total_videos: 92 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:22 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_move_the_position_of_the_triangle_bread.yaml b/dataset_info/R1_Lite_move_the_position_of_the_triangle_bread.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4561ed3adc1884cb10a00fa9a42edd2a8289fc0d --- /dev/null +++ b/dataset_info/R1_Lite_move_the_position_of_the_triangle_bread.yaml @@ -0,0 +1,1388 @@ +dataset_name: move_the_position_of_the_triangle_bread +dataset_uuid: f60ef2d6-fc04-4276-b75e-e8b54ab7602c +scene_type: +- home +atomic_actions: +- place +- pick +- grasp +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: waffle + level1: food + level2: waffle + level3: null + level4: null + level5: null +- object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null +- object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null +- object_name: bath_ball + level1: daily_necessities + level2: bath_ball + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: can + level1: container + level2: can + level3: null + level4: null + level5: null +- object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null +- object_name: hard_cleanser + level1: daily_necessities + level2: hard_cleanser + level3: null + level4: null + level5: null +- object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null +- object_name: peeler + level1: tool + level2: peeler + level3: null + level4: null + level5: null +- object_name: block + level1: toy + level2: block + level3: null + level4: null + level5: null +- object_name: duck + level1: toy + level2: duck + level3: null + level4: null + level5: null +- object_name: soap + level1: daily_necessities + level2: soap + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +- object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null +- object_name: detergent + level1: daily_necessities + level2: detergent + level3: null + level4: null + level5: null +- object_name: egg_beater + level1: electrical_appliances + level2: egg_beater + level3: null + level4: null + level5: null +- object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null +- object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null +- object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null +- object_name: marker + level1: office_supplies + level2: marker + level3: null + level4: null + level5: null +- object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null +- object_name: bread_slice + level1: food + level2: bread_slice + level3: null + level4: null + level5: null +- object_name: brush + level1: daily_necessities + level2: brush + level3: null + level4: null + level5: null +- object_name: yogurt + level1: drink + level2: yogurt + level3: null + level4: null + level5: null +- object_name: power_strip + level1: electric_appliance + level2: power_strip + level3: null + level4: null + level5: null +- object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null +- object_name: soda + level1: drink + level2: soda + level3: null + level4: null + level5: null +- object_name: lime + level1: fruit + level2: lime + level3: null + level4: null + level5: null +- object_name: coffee_capsule + level1: drink + level2: coffee_capsule + level3: null + level4: null + level5: null +- object_name: dish + level1: container + level2: dish + level3: null + level4: null + level5: null +- object_name: glass + level1: furniture + level2: glass + level3: null + level4: null + level5: null +- object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null +- object_name: glasses_case + level1: daily_necessities + level2: glasses_case + level3: null + level4: null + level5: null +- object_name: gum + level1: daily_necessities + level2: gum + level3: null + level4: null + level5: null +- object_name: tape + level1: daily_necessities + level2: tape + level3: null + level4: null + level5: null +- object_name: soft_cleanser + level1: daily_necessities + level2: soft_cleanser + level3: null + level4: null + level5: null +- object_name: chips + level1: food + level2: chips + level3: null + level4: null + level5: null +- object_name: chocolate + level1: food + level2: chocolate + level3: null + level4: null + level5: null +- object_name: cookie + level1: food + level2: cookie + level3: null + level4: null + level5: null +- object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null +- object_name: triangle_bread + level1: food + level2: triangle_bread + level3: null + level4: null + level5: null +path: R1_Lite_move_the_position_of_the_triangle_bread +video_url: ./assets/videos/R1_Lite_move_the_position_of_the_triangle_bread.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_move_the_position_of_the_triangle_bread.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 300.1MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 40 + total_frames: 8540 + total_tasks: 1 + total_videos: 160 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:39 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put the triangle bread the designated position. +sub_tasks: +- Grasp the pizza with right gripper +- Static +- Place the pizza on the table with right gripper +- End +- Grasp the pizza with left gripper +- Place the pizza on the table with left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_left_rgb + name: cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_rgb + name: cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +action_space: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_move_the_position_of_the_triangle_bread_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 21 + dataset_name: move_the_position_of_the_triangle_bread + dataset_uuid: f60ef2d6-fc04-4276-b75e-e8b54ab7602c + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/put_the_triangle_bread/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_move_the_position_of_the_triangle_bread + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: move_the_position_of_the_waffle + dataset_uuid: null + task_descriptions: + - put the waffle the designated position. + scene_type: + - home + atomic_actions: + - place + - pick + - grasp + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: waffle + level1: food + level2: waffle + level3: null + level4: null + level5: null + - object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null + - object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null + - object_name: bath_ball + level1: daily_necessities + level2: bath_ball + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: can + level1: container + level2: can + level3: null + level4: null + level5: null + - object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null + - object_name: hard_cleanser + level1: daily_necessities + level2: hard_cleanser + level3: null + level4: null + level5: null + - object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null + - object_name: peeler + level1: tool + level2: peeler + level3: null + level4: null + level5: null + - object_name: block + level1: toy + level2: block + level3: null + level4: null + level5: null + - object_name: duck + level1: toy + level2: duck + level3: null + level4: null + level5: null + - object_name: soap + level1: daily_necessities + level2: soap + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + - object_name: cola + level1: drink + level2: cola + level3: null + level4: null + level5: null + - object_name: detergent + level1: daily_necessities + level2: detergent + level3: null + level4: null + level5: null + - object_name: egg_beater + level1: electrical_appliances + level2: egg_beater + level3: null + level4: null + level5: null + - object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null + - object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null + - object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null + - object_name: marker + level1: office_supplies + level2: marker + level3: null + level4: null + level5: null + - object_name: rubiks_cube + level1: toy + level2: rubiks_cube + level3: null + level4: null + level5: null + - object_name: bread_slice + level1: food + level2: bread_slice + level3: null + level4: null + level5: null + - object_name: brush + level1: daily_necessities + level2: brush + level3: null + level4: null + level5: null + - object_name: yogurt + level1: drink + level2: yogurt + level3: null + level4: null + level5: null + - object_name: power_strip + level1: electric_appliance + level2: power_strip + level3: null + level4: null + level5: null + - object_name: milk + level1: drink + level2: milk + level3: null + level4: null + level5: null + - object_name: soda + level1: drink + level2: soda + level3: null + level4: null + level5: null + - object_name: lime + level1: fruit + level2: lime + level3: null + level4: null + level5: null + - object_name: coffee_capsule + level1: drink + level2: coffee_capsule + level3: null + level4: null + level5: null + - object_name: dish + level1: container + level2: dish + level3: null + level4: null + level5: null + - object_name: glass + level1: furniture + level2: glass + level3: null + level4: null + level5: null + - object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null + - object_name: glasses_case + level1: daily_necessities + level2: glasses_case + level3: null + level4: null + level5: null + - object_name: gum + level1: daily_necessities + level2: gum + level3: null + level4: null + level5: null + - object_name: tape + level1: daily_necessities + level2: tape + level3: null + level4: null + level5: null + - object_name: soft_cleanser + level1: daily_necessities + level2: soft_cleanser + level3: null + level4: null + level5: null + - object_name: chips + level1: food + level2: chips + level3: null + level4: null + level5: null + - object_name: chocolate + level1: food + level2: chocolate + level3: null + level4: null + level5: null + - object_name: cookie + level1: food + level2: cookie + level3: null + level4: null + level5: null + - object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null + - object_name: triangle_bread + level1: food + level2: triangle_bread + level3: null + level4: null + level5: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 40 + total_frames: 8540 + total_tasks: 1 + total_videos: 160 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:39 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_open_and_close_curtains.yaml b/dataset_info/R1_Lite_open_and_close_curtains.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5428a8c19766551d1fa4ba3aef6899957d0392af --- /dev/null +++ b/dataset_info/R1_Lite_open_and_close_curtains.yaml @@ -0,0 +1,791 @@ +dataset_name: open_and_close_curtains +dataset_uuid: 184bad58-5213-4be2-bb93-7c6d271bf034 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: curtains + level1: clothing + level2: curtains + level3: null + level4: null + level5: null +path: R1_Lite_open_and_close_curtains +video_url: ./assets/videos/R1_Lite_open_and_close_curtains.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_open_and_close_curtains.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 8.5GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 98 + total_frames: 226694 + total_tasks: 1 + total_videos: 294 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:97 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: open close inner and outer curtains on both sides. +sub_tasks: +- Pull the outeouter curtains open on both sides with the both gripper +- Pull the outer curtains open on both sides +- End +- Pull the inner curtains open on both sides +- Close the outer curtains on both sides +- Pull the inner curtains open on left sides with the left gripper +- Close the right inner curtain with the right gripper +- Pull the inner curtains open on right sides with the right gripper +- Close the left inner curtain with the left gripper +- Close the outeouter curtains on both sides with the both gripper +- Close the inner curtains on both sides +- abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_open_and_close_curtains_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 433 + dataset_name: open_and_close_curtains + dataset_uuid: 184bad58-5213-4be2-bb93-7c6d271bf034 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/open_and_close_curtains/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_open_and_close_curtains + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: open_and_close_curtains + dataset_uuid: null + task_descriptions: + - open close inner and outer curtains on both sides. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: curtains + level1: clothing + level2: curtains + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 98 + total_frames: 226694 + total_tasks: 1 + total_videos: 294 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:97 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_open_and_close_microwave_oven.yaml b/dataset_info/R1_Lite_open_and_close_microwave_oven.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ffe588f50c8ee874b670a578a3ae6e97e5a98d74 --- /dev/null +++ b/dataset_info/R1_Lite_open_and_close_microwave_oven.yaml @@ -0,0 +1,817 @@ +dataset_name: open_and_close_microwave_oven +dataset_uuid: 1b797b37-4aab-43be-9f02-cfcf030be8ff +scene_type: +- home +- restaurant +atomic_actions: +- grasp +- pick +- place +- push +- pull +- pressbutton +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: french_fries + level1: food + level2: french_fries + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: microwave + level1: electric_appliance + level2: microwave + level3: null + level4: null + level5: null +path: R1_Lite_open_and_close_microwave_oven +video_url: ./assets/videos/R1_Lite_open_and_close_microwave_oven.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_open_and_close_microwave_oven.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 7.7GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 117 + total_frames: 183612 + total_tasks: 1 + total_videos: 351 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:116 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put fries plate in microwave turn on then take out and close. +sub_tasks: +- Put the microwave back in its original place +- Take the plate out of the microwave +- Close the microwave oven +- Open the microwave oven +- Put the plate in the microwave oven +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_open_and_close_microwave_oven_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 396 + dataset_name: open_and_close_microwave_oven + dataset_uuid: 1b797b37-4aab-43be-9f02-cfcf030be8ff + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/open_and_close_microwave_oven/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_open_and_close_microwave_oven + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: heating food + dataset_uuid: null + task_descriptions: + - turn on the microwave, put the fries in, turn off the microwave, turn on the + microwave, take out the fries, and turn off the microwave. + scene_type: + - home + - restaurant + atomic_actions: + - grasp + - pick + - place + - push + - pull + - pressbutton + objects: + - object_name: french_fries + level1: food + level2: french_fries + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: microwave + level1: electric_appliance + level2: microwave + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 117 + total_frames: 183612 + total_tasks: 1 + total_videos: 351 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:116 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_open_and_close_nightstand_door.yaml b/dataset_info/R1_Lite_open_and_close_nightstand_door.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e4b39f7a76d14530ad95192264deebb5474569d7 --- /dev/null +++ b/dataset_info/R1_Lite_open_and_close_nightstand_door.yaml @@ -0,0 +1,870 @@ +dataset_name: open_and_close_nightstand_door +dataset_uuid: 20a3b9fb-6772-4fbe-b39d-00e54dfb1b57 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +- push +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: nightstand + level1: furniture + level2: nightstand + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +- object_name: pillow + level1: clothing + level2: pillow + level3: null + level4: null + level5: null +- object_name: bag + level1: container + level2: bag + level3: null + level4: null + level5: null +- object_name: blue_doll + level1: toy + level2: blue_doll + level3: null + level4: null + level5: null +- object_name: green_doll + level1: toy + level2: green_doll + level3: null + level4: null + level5: null +- object_name: pink_doll + level1: toy + level2: pink_doll + level3: null + level4: null + level5: null +path: R1_Lite_open_and_close_nightstand_door +video_url: ./assets/videos/R1_Lite_open_and_close_nightstand_door.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_open_and_close_nightstand_door.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 11.8GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 100 + total_frames: 274445 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:99 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put items on nightstand lower then higher shelf and close. +sub_tasks: +- Place the green doll on the lower shelf +- Close the nightstand door +- Place the basket on the lower shelf +- Place the pillow on the higher shelf +- Place the blue doll on the higher shelf +- End +- Place the pillow on the lower shelf +- Place the blue doll on the lower shelf +- abnormal +- Place the bag on the lower shelf +- Place the bag on the higher shelf +- Open the nightstand door +- Place the basket on the higher shelf +- Place the green doll on the higher shelf +- Place the pink doll on the lower shelf +- Place the pink doll on the higher shelf +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_open_and_close_nightstand_door_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 402 + dataset_name: open_and_close_nightstand_door + dataset_uuid: 20a3b9fb-6772-4fbe-b39d-00e54dfb1b57 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/open_and_close_nightstand_door/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_open_and_close_nightstand_door + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: place_dolls + dataset_uuid: null + task_descriptions: + - open the cabinet door and place the doll from the top to the bottom, then from + the bottom to the top. close the cabinet door. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + - push + objects: + - object_name: nightstand + level1: furniture + level2: nightstand + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + - object_name: pillow + level1: clothing + level2: pillow + level3: null + level4: null + level5: null + - object_name: bag + level1: container + level2: bag + level3: null + level4: null + level5: null + - object_name: blue_doll + level1: toy + level2: blue_doll + level3: null + level4: null + level5: null + - object_name: green_doll + level1: toy + level2: green_doll + level3: null + level4: null + level5: null + - object_name: pink_doll + level1: toy + level2: pink_doll + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 100 + total_frames: 274445 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:99 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_open_and_close_nightstand_drawer.yaml b/dataset_info/R1_Lite_open_and_close_nightstand_drawer.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c22e8382e727a73d456bed23d08d7c9ed5b60ba2 --- /dev/null +++ b/dataset_info/R1_Lite_open_and_close_nightstand_drawer.yaml @@ -0,0 +1,811 @@ +dataset_name: open_and_close_nightstand_drawer +dataset_uuid: f53ef972-f453-4892-bf9c-cd8d3c22762e +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +- push +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: nightstand + level1: furniture + level2: nightstand + level3: null + level4: null + level5: null +- object_name: remote_control + level1: electric_appliance + level2: remote_control + level3: null + level4: null + level5: null +- object_name: tissue + level1: daily_necessities + level2: tissue + level3: null + level4: null + level5: null +path: R1_Lite_open_and_close_nightstand_drawer +video_url: ./assets/videos/R1_Lite_open_and_close_nightstand_drawer.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_open_and_close_nightstand_drawer.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 7.1GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 77 + total_frames: 104258 + total_tasks: 1 + total_videos: 231 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:76 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put remote tissue in drawer then take out and close. +sub_tasks: +- Open the nightstand drawer +- Put the remote controls on the table in the drawer one by one +- Take the remote control out of the drawer one by one and place them on the table +- Take the tissue out of the drawer one by one and place them on the table +- Close the nightstand drawer +- Put the tissue on the table in the drawer one by one +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_open_and_close_nightstand_drawer_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 417 + dataset_name: open_and_close_nightstand_drawer + dataset_uuid: f53ef972-f453-4892-bf9c-cd8d3c22762e + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/open_and_close_nightstand_drawer/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_open_and_close_nightstand_drawer + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: open_and_close_nightstand_drawer + dataset_uuid: null + task_descriptions: + - open the drawer and put tissues in and out, then close the drawer. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + - push + objects: + - object_name: nightstand + level1: furniture + level2: nightstand + level3: null + level4: null + level5: null + - object_name: remote_control + level1: electric_appliance + level2: remote_control + level3: null + level4: null + level5: null + - object_name: tissue + level1: daily_necessities + level2: tissue + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 77 + total_frames: 104258 + total_tasks: 1 + total_videos: 231 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:76 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_open_and_close_the_freezer_door.yaml b/dataset_info/R1_Lite_open_and_close_the_freezer_door.yaml new file mode 100644 index 0000000000000000000000000000000000000000..26a98b3f86de008ab1536bf2785e585e7436aa1d --- /dev/null +++ b/dataset_info/R1_Lite_open_and_close_the_freezer_door.yaml @@ -0,0 +1,848 @@ +dataset_name: open_and_close_the_freezer_door +dataset_uuid: d59cd2ec-8eab-40f4-a630-29a9bbc3f309 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +- open +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: freezer + level1: furniture + level2: freezer + level3: null + level4: null + level5: null +- object_name: ceramic_cup + level1: container + level2: ceramic_cup + level3: null + level4: null + level5: null +- object_name: yogurt + level1: food + level2: yogurt + level3: null + level4: null + level5: null +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: paper_cup + level1: container + level2: paper_cup + level3: null + level4: null + level5: null +path: R1_Lite_open_and_close_the_freezer_door +video_url: ./assets/videos/R1_Lite_open_and_close_the_freezer_door.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_open_and_close_the_freezer_door.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 6.6GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 93 + total_frames: 170369 + total_tasks: 1 + total_videos: 279 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:92 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put yogurt cups in freezer then take out and close. +sub_tasks: +- Abnormal +- End +- Place the ceramic cup on the table +- Put the yoghurt in the freezer +- Take the paper cup out of the freezer +- Place the yoghurt on the table +- Take the ceramic cup out of the freezer +- Put the ceramic cup in the freezer +- Take the yogurt out of the freezer +- Open the freezer door +- Put the paper cup in the freezer +- Put the yogurt in the freezer +- Place the paper cup on the table +- Close the freezer door +- Grasp the yogur +- Place the yoghurt on the freezer +- Place the yogurt on the table +- Take the yoghurt out of the freezer +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_open_and_close_the_freezer_door_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 395 + dataset_name: open_and_close_the_freezer_door + dataset_uuid: d59cd2ec-8eab-40f4-a630-29a9bbc3f309 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/open_and_close_the_freezer_door/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_open_and_close_the_freezer_door + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: putting_in_and_taking_out_items + dataset_uuid: null + task_descriptions: + - open the refrigerator door and put the yogurt cup into the refrigerator. close + the refrigerator door and take out the yogurt cup. close the refrigerator door. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + - open + objects: + - object_name: freezer + level1: furniture + level2: freezer + level3: null + level4: null + level5: null + - object_name: ceramic_cup + level1: container + level2: ceramic_cup + level3: null + level4: null + level5: null + - object_name: yogurt + level1: food + level2: yogurt + level3: null + level4: null + level5: null + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: paper_cup + level1: container + level2: paper_cup + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 93 + total_frames: 170369 + total_tasks: 1 + total_videos: 279 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:92 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_open_the_food_pan.yaml b/dataset_info/R1_Lite_open_the_food_pan.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5d0fe0abd23fbf54adfe943741c602669a366395 --- /dev/null +++ b/dataset_info/R1_Lite_open_the_food_pan.yaml @@ -0,0 +1,796 @@ +dataset_name: open_the_food_pan +dataset_uuid: 41f586d5-51f7-456a-b30f-ca5a7e7555c2 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: pan + level1: container + level2: pan + level3: null + level4: null + level5: null +path: R1_Lite_open_the_food_pan +video_url: ./assets/videos/R1_Lite_open_the_food_pan.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_open_the_food_pan.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 2.6GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 94 + total_frames: 74981 + total_tasks: 1 + total_videos: 282 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:93 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: fully open pot lid on table then close it. +sub_tasks: +- Hold the pot lid with the right arm +- Close the pot lid +- Open the pot lid completely +- Hold the pot lid with the left arm +- Open the food pot lid a small opening with the right arm +- Open the food pot lid a small opening with the left arm +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_open_the_food_pan_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 380 + dataset_name: open_the_food_pan + dataset_uuid: 41f586d5-51f7-456a-b30f-ca5a7e7555c2 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/turn_on_the_food_pot/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_open_the_food_pan + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: open_the_food_pan + dataset_uuid: null + task_descriptions: + - fully open pot lid on table then close it. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: pan + level1: container + level2: pan + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 94 + total_frames: 74981 + total_tasks: 1 + total_videos: 282 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:93 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_opening_and_closing_aalcony_sliding_doors.yaml b/dataset_info/R1_Lite_opening_and_closing_aalcony_sliding_doors.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7e974663dac8222f3503359c313ddd0847d89d4c --- /dev/null +++ b/dataset_info/R1_Lite_opening_and_closing_aalcony_sliding_doors.yaml @@ -0,0 +1,781 @@ +dataset_name: opening_and_closing_aalcony_sliding_doors +dataset_uuid: 4d71497e-4f98-487e-8f46-e2a076016680 +scene_type: +- home +atomic_actions: +- grasp +- push +- pull +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: sliding_door + level1: furniture + level2: sliding_door + level3: null + level4: null + level5: null +path: R1_Lite_opening_and_closing_aalcony_sliding_doors +video_url: ./assets/videos/R1_Lite_opening_and_closing_aalcony_sliding_doors.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_opening_and_closing_aalcony_sliding_doors.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 6.9GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 101 + total_frames: 133637 + total_tasks: 1 + total_videos: 303 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:100 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: close balcony sliding door then open it. +sub_tasks: +- Close the slid door +- Open the slid door +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_opening_and_closing_aalcony_sliding_doors_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 418 + dataset_name: opening_and_closing_aalcony_sliding_doors + dataset_uuid: 4d71497e-4f98-487e-8f46-e2a076016680 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/opening_and_closing_aalcony_sliding_doors/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_opening_and_closing_aalcony_sliding_doors + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: opening_and_closing_sliding_doors + dataset_uuid: null + task_descriptions: + - close balcony sliding door then open it. + scene_type: + - home + atomic_actions: + - grasp + - push + - pull + objects: + - object_name: sliding_door + level1: furniture + level2: sliding_door + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 101 + total_frames: 133637 + total_tasks: 1 + total_videos: 303 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:100 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_peach_storage.yaml b/dataset_info/R1_Lite_peach_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9874ab4d6b2fd2077e51a2c6777375848e5e73f1 --- /dev/null +++ b/dataset_info/R1_Lite_peach_storage.yaml @@ -0,0 +1,887 @@ +dataset_name: peach_storage +dataset_uuid: e596c797-57d3-4fbb-ba99-5dec78a4c0b2 +scene_type: +- kitchen +- living_room +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +- object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null +path: R1_Lite_peach_storage +video_url: ./assets/videos/R1_Lite_peach_storage.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_peach_storage.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 1.5GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 110 + total_frames: 31755 + total_tasks: 1 + total_videos: 440 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:109 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: place the basket in the center of the table and align it, then put the peaches + into the basket. +sub_tasks: +- End +- Place the light basket on the middle of the table with the left gripper +- Grasp the light basket with the left gripper +- Static +- Grasp the peach with the right gripper +- Place the peach into the light basket with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_left_rgb + name: cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_rgb + name: cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +action_space: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_peach_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 16 + dataset_name: peach_storage + dataset_uuid: e596c797-57d3-4fbb-ba99-5dec78a4c0b2 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/basket_peach/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_peach_storage + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: peach_storage + dataset_uuid: null + task_descriptions: + - place the basket in the center of the table and align it, then put the peaches + into the basket. + scene_type: + - kitchen + - living_room + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + - object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 110 + total_frames: 31755 + total_tasks: 1 + total_videos: 440 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:109 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_pick_up_and_store_items.yaml b/dataset_info/R1_Lite_pick_up_and_store_items.yaml new file mode 100644 index 0000000000000000000000000000000000000000..296337fef023cf4782165e029b7d88e71759395c --- /dev/null +++ b/dataset_info/R1_Lite_pick_up_and_store_items.yaml @@ -0,0 +1,919 @@ +dataset_name: pick_up_and_store_items +dataset_uuid: ce4cb36f-2a3e-45e1-80b7-e559203fb5c3 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +- pull +- push +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: drawer + level1: container + level2: drawer + level3: null + level4: null + level5: null +- object_name: tissue_paper + level1: daily_necessities + level2: tissue_paper + level3: null + level4: null + level5: null +- object_name: disposable_slippers + level1: daily_necessities + level2: disposable_slippers + level3: null + level4: null + level5: null +- object_name: tape + level1: tool + level2: tape + level3: null + level4: null + level5: null +- object_name: solid_beverage + level1: beverage + level2: solid_beverage + level3: null + level4: null + level5: null +- object_name: shorts + level1: clothing + level2: shorts + level3: null + level4: null + level5: null +- object_name: roll_paper + level1: daily_necessities + level2: roll_paper + level3: null + level4: null + level5: null +- object_name: t_shirt + level1: cloth + level2: t_shirt + level3: null + level4: null + level5: null +- object_name: mineral_water + level1: drink + level2: mineral_water + level3: null + level4: null + level5: null +path: R1_Lite_pick_up_and_store_items +video_url: ./assets/videos/R1_Lite_pick_up_and_store_items.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_pick_up_and_store_items.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 5.8GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 108 + total_frames: 125588 + total_tasks: 1 + total_videos: 324 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:107 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: Open the drawer, then close the drawer. +sub_tasks: +- Place the tissue on the table +- Place the disposable slippers on the table +- Take out the tissue from the drawer +- Put the slippers in the drawer +- Take out the mineral water from the drawer +- Open the drawer with the both gripper +- Place the roll paper on the table +- Place the shorts on the table +- Place the adhesive tape on the table +- Take out the disposable slippers from the drawer +- Place the solid drinks on the table +- Take out the adhesive tape from the drawer +- Put the shorts in the drawer +- Close the drawer with the both gripper +- End +- Pick up the tissue on the table +- Put the tissue in the drawer +- Take out the shorts from the drawer +- Pick up the T-shirt on the table +- Take out the solid drinks from the drawer +- Pick up the mineral water on the table +- Put the mineral water in the drawer +- Pick up the adhesive tape on the table +- Take out the roll paper from the drawer +- Close the drawer +- Open the drawer +- Take out the T-shirt from the drawer +- Put the disposable slippers in the drawer +- Put the adhesive tape in the drawer +- Take the paper out of the drawer and put it on the table +- Put the solid drinks in the drawer +- Place the mineral water on the table +- Put the T-shirt in the drawer +- abnormal +- Place the T-shirt on the table +- Pick up the solid drinks on the table +- Pick up the disposable slippers on the table +- Pick up the shorts on the table +- Pick up the roll paper on the table +- Put the roll paper in the drawer +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_pick_up_and_store_items_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 384 + dataset_name: pick_up_and_store_items + dataset_uuid: ce4cb36f-2a3e-45e1-80b7-e559203fb5c3 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/bedside_console_with_switch_panel/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_pick_up_and_store_items + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: pick_up_and_store_items + dataset_uuid: null + task_descriptions: + - store table items in drawer then place them out close drawer. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + - pull + - push + objects: + - object_name: drawer + level1: container + level2: drawer + level3: null + level4: null + level5: null + - object_name: tissue_paper + level1: daily_necessities + level2: tissue_paper + level3: null + level4: null + level5: null + - object_name: disposable_slippers + level1: daily_necessities + level2: disposable_slippers + level3: null + level4: null + level5: null + - object_name: tape + level1: tool + level2: tape + level3: null + level4: null + level5: null + - object_name: solid_beverage + level1: beverage + level2: solid_beverage + level3: null + level4: null + level5: null + - object_name: shorts + level1: clothing + level2: shorts + level3: null + level4: null + level5: null + - object_name: roll_paper + level1: daily_necessities + level2: roll_paper + level3: null + level4: null + level5: null + - object_name: t_shirt + level1: cloth + level2: t_shirt + level3: null + level4: null + level5: null + - object_name: mineral_water + level1: drink + level2: mineral_water + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 108 + total_frames: 125588 + total_tasks: 1 + total_videos: 324 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:107 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_place_the_dress_shirt_on_the_hanger.yaml b/dataset_info/R1_Lite_place_the_dress_shirt_on_the_hanger.yaml new file mode 100644 index 0000000000000000000000000000000000000000..28026ae893e9059c1216c1b4b297b56f7471566a --- /dev/null +++ b/dataset_info/R1_Lite_place_the_dress_shirt_on_the_hanger.yaml @@ -0,0 +1,821 @@ +dataset_name: place_the_dress_shirt_on_the_hanger +dataset_uuid: 99bbe00a-c986-419f-b64a-51eef829a3b8 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: hanger + level1: furniture + level2: hanger + level3: null + level4: null + level5: null +- object_name: shirt + level1: clothing + level2: shirt + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: bed + level1: furniture + level2: bed + level3: null + level4: null + level5: null +path: R1_Lite_place_the_dress_shirt_on_the_hanger +video_url: ./assets/videos/R1_Lite_place_the_dress_shirt_on_the_hanger.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_place_the_dress_shirt_on_the_hanger.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 7.1GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 103 + total_frames: 120516 + total_tasks: 1 + total_videos: 309 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:102 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: hang shirt on hanger then take hanger out and put on bed. +sub_tasks: +- abnormal +- Hook the other side of the shirt onto the hanger +- Hook one side of the shirt onto the hanger +- Lift the shirt and hanger +- Take the clothes hanger out of the clothes +- Place the hanger on the bed +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_place_the_dress_shirt_on_the_hanger_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 392 + dataset_name: place_the_dress_shirt_on_the_hanger + dataset_uuid: 99bbe00a-c986-419f-b64a-51eef829a3b8 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/place_the_dress_shirt_on_the_hanger/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_place_the_dress_shirt_on_the_hanger + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: hang_up_and_put_down_your_clothes + dataset_uuid: null + task_descriptions: + - hang shirt on hanger then take hanger out and put on bed. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: hanger + level1: furniture + level2: hanger + level3: null + level4: null + level5: null + - object_name: shirt + level1: clothing + level2: shirt + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: bed + level1: furniture + level2: bed + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 103 + total_frames: 120516 + total_tasks: 1 + total_videos: 309 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:102 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_plug_the_socket.yaml b/dataset_info/R1_Lite_plug_the_socket.yaml new file mode 100644 index 0000000000000000000000000000000000000000..379443d79d916641d19980a7fc476f34695b5af1 --- /dev/null +++ b/dataset_info/R1_Lite_plug_the_socket.yaml @@ -0,0 +1,820 @@ +dataset_name: plug_the_socket +dataset_uuid: a456ff6a-8652-485b-a545-1bbcee60a201 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: mosquito_repellent_liquid + level1: daily_necessities + level2: mosquito_repellent_liquid + level3: null + level4: null + level5: null +- object_name: plug + level1: electric_appliance + level2: plug + level3: null + level4: null + level5: null +- object_name: socket + level1: electric_appliance + level2: socket + level3: null + level4: null + level5: null +path: R1_Lite_plug_the_socket +video_url: ./assets/videos/R1_Lite_plug_the_socket.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_plug_the_socket.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 5.1GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 96 + total_frames: 115158 + total_tasks: 1 + total_videos: 288 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:95 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: plug in mosquito repellent then unplug and place on table. +sub_tasks: +- Hold the socket with your right hand and unplug it with your left hand +- abnormal +- Pick up the mosquito repellent liquid +- Place the mosquito repellent liquid on the table +- Insert the plug into the socket +- Hold the socket with your left hand and unplug it with your right hand +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_plug_the_socket_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 394 + dataset_name: plug_the_socket + dataset_uuid: a456ff6a-8652-485b-a545-1bbcee60a201 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/plug_the_socket/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_plug_the_socket + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: Plug in and unplug the socket + dataset_uuid: null + task_descriptions: + - plug in mosquito repellent then unplug and place on table. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: mosquito_repellent_liquid + level1: daily_necessities + level2: mosquito_repellent_liquid + level3: null + level4: null + level5: null + - object_name: plug + level1: electric_appliance + level2: plug + level3: null + level4: null + level5: null + - object_name: socket + level1: electric_appliance + level2: socket + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 96 + total_frames: 115158 + total_tasks: 1 + total_videos: 288 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:95 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_pour_water.yaml b/dataset_info/R1_Lite_pour_water.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d5623ce835c9281fec2fd7eefd2db18638bab5e0 --- /dev/null +++ b/dataset_info/R1_Lite_pour_water.yaml @@ -0,0 +1,822 @@ +dataset_name: pour_water +dataset_uuid: 8b05bffb-745b-4de7-bbfa-113e42018671 +scene_type: +- home +- restaurant +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: water + level1: drink + level2: water + level3: null + level4: null + level5: null +- object_name: kettle + level1: electric_appliance + level2: kettle + level3: null + level4: null + level5: null +- object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null +path: R1_Lite_pour_water +video_url: ./assets/videos/R1_Lite_pour_water.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_pour_water.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 2.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 51 + total_frames: 53125 + total_tasks: 1 + total_videos: 153 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:50 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: pour water into two cups then put kettle down on table. +sub_tasks: +- Pour water into the cup +- Put the cup down on the table +- Put down the kettle on the table +- Pour water into another cup +- Pick up the cup +- Pick up the kettle +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_pour_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 423 + dataset_name: pour_water + dataset_uuid: 8b05bffb-745b-4de7-bbfa-113e42018671 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/pour_water/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_pour_water + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: pour_water + dataset_uuid: null + task_descriptions: + - pour water into two cups then put kettle down on table. + scene_type: + - home + - restaurant + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: water + level1: drink + level2: water + level3: null + level4: null + level5: null + - object_name: kettle + level1: electric_appliance + level2: kettle + level3: null + level4: null + level5: null + - object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 51 + total_frames: 53125 + total_tasks: 1 + total_videos: 153 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:50 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_put_on_a_garbage_bag.yaml b/dataset_info/R1_Lite_put_on_a_garbage_bag.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e0b2a6284332d23e8b1e7dca88b93ab333ee2220 --- /dev/null +++ b/dataset_info/R1_Lite_put_on_a_garbage_bag.yaml @@ -0,0 +1,816 @@ +dataset_name: put_on_a_garbage_bag +dataset_uuid: c689a888-c8c9-4a05-a250-680b40218803 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: trash_bag + level1: container + level2: trash_bag + level3: null + level4: null + level5: null +- object_name: trash_can + level1: container + level2: trash_can + level3: null + level4: null + level5: null +- object_name: trash_can_ring + level1: daily_necessities + level2: trash_can_ring + level3: null + level4: null + level5: null +path: R1_Lite_put_on_a_garbage_bag +video_url: ./assets/videos/R1_Lite_put_on_a_garbage_bag.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_put_on_a_garbage_bag.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 11.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 133 + total_frames: 252689 + total_tasks: 1 + total_videos: 399 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:132 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put new trash bag on can then place ring on it. +sub_tasks: +- Abnormal +- End +- Grasp a new trash bag with the right gripper +- put the new garbage bag on the trash can +- Place the trash can ring on the trash can with the right gripper +- Pick up the trash bag +- Grasp the trash bag with the right gripper +- place the trash can ring on the floor with right gripper +- Place the trash bag on the floor with the right gripper +- Place the trash can ring on the floor +- Pick up a new trash bag +- Place the trash can ring on the trash can +- Place the trash bag on the floor +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_put_on_a_garbage_bag_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 422 + dataset_name: put_on_a_garbage_bag + dataset_uuid: c689a888-c8c9-4a05-a250-680b40218803 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/put_a_bag_in_the_trash_can/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_put_on_a_garbage_bag + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: put_on_a_garbage_bag + dataset_uuid: null + task_descriptions: + - replace the garbage bag on can then place ring on it. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: trash_bag + level1: container + level2: trash_bag + level3: null + level4: null + level5: null + - object_name: trash_can + level1: container + level2: trash_can + level3: null + level4: null + level5: null + - object_name: trash_can_ring + level1: daily_necessities + level2: trash_can_ring + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 133 + total_frames: 252689 + total_tasks: 1 + total_videos: 399 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:132 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_put_slippers_into_floor_standing_shoe_cabinet.yaml b/dataset_info/R1_Lite_put_slippers_into_floor_standing_shoe_cabinet.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f767ae659509a463836d8e82eaf82794edec39f4 --- /dev/null +++ b/dataset_info/R1_Lite_put_slippers_into_floor_standing_shoe_cabinet.yaml @@ -0,0 +1,807 @@ +dataset_name: put_slippers_into_floor_standing_shoe_cabinet +dataset_uuid: 3a43ccf0-8e1e-4bba-9a30-6a9a8bcefc6f +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: shoe_cabinet + level1: furniture + level2: shoe_cabinet + level3: null + level4: null + level5: null +- object_name: slippers + level1: clothing + level2: slippers + level3: null + level4: null + level5: null +- object_name: floor + level1: furniture + level2: floor + level3: null + level4: null + level5: null +path: R1_Lite_put_slippers_into_floor_standing_shoe_cabinet +video_url: ./assets/videos/R1_Lite_put_slippers_into_floor_standing_shoe_cabinet.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_put_slippers_into_floor_standing_shoe_cabinet.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 11.6GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 107 + total_frames: 183363 + total_tasks: 1 + total_videos: 321 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:106 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put slippers from floor to cabinet then back to floor. +sub_tasks: +- Pick up the slippers in the shoe cabinet +- Place the slippers into the shoe cabinet +- Pick up the slippers on the floor +- Place the slippers on the floor +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_put_slippers_into_floor_standing_shoe_cabinet_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 428 + dataset_name: put_slippers_into_floor_standing_shoe_cabinet + dataset_uuid: 3a43ccf0-8e1e-4bba-9a30-6a9a8bcefc6f + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/put_slippers_into_floor_standing_shoe_cabinet/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_put_slippers_into_floor_standing_shoe_cabinet + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: put_slippers_into_floor_standing_shoe_cabinet + dataset_uuid: null + task_descriptions: + - put slippers from floor to cabinet then back to floor. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: shoe_cabinet + level1: furniture + level2: shoe_cabinet + level3: null + level4: null + level5: null + - object_name: slippers + level1: clothing + level2: slippers + level3: null + level4: null + level5: null + - object_name: floor + level1: furniture + level2: floor + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 107 + total_frames: 183363 + total_tasks: 1 + total_videos: 321 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:106 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_put_the_pillow_on_the_bed.yaml b/dataset_info/R1_Lite_put_the_pillow_on_the_bed.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2b26dc8eb7489ca2f97ecd2477864e40671ee7bd --- /dev/null +++ b/dataset_info/R1_Lite_put_the_pillow_on_the_bed.yaml @@ -0,0 +1,796 @@ +dataset_name: put_the_pillow_on_the_bed +dataset_uuid: c25eff25-52c9-4178-a906-2f1040e89068 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: pillow + level1: daily_necessities + level2: pillow + level3: null + level4: null + level5: null +- object_name: bed + level1: furniture + level2: bed + level3: null + level4: null + level5: null +path: R1_Lite_put_the_pillow_on_the_bed +video_url: ./assets/videos/R1_Lite_put_the_pillow_on_the_bed.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_put_the_pillow_on_the_bed.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 1.7GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 48 + total_frames: 53484 + total_tasks: 1 + total_videos: 144 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:47 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: move pillow from bedside to head then foot of bed. +sub_tasks: +- Pick up the pillow +- Place the pillow at the end of the bed +- Move to the head of the bed +- Move to the foot of the bed +- Place the pillow at the bedside +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_put_the_pillow_on_the_bed_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 390 + dataset_name: put_the_pillow_on_the_bed + dataset_uuid: c25eff25-52c9-4178-a906-2f1040e89068 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/put_the_pillow_on_the_bed/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_put_the_pillow_on_the_bed + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: put_the_pillow_on_the_bed + dataset_uuid: null + task_descriptions: + - move pillow from bedside to head then foot of bed. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: pillow + level1: daily_necessities + level2: pillow + level3: null + level4: null + level5: null + - object_name: bed + level1: furniture + level2: bed + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 48 + total_frames: 53484 + total_tasks: 1 + total_videos: 144 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:47 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_put_the_shoes_into_the_shoe_box.yaml b/dataset_info/R1_Lite_put_the_shoes_into_the_shoe_box.yaml new file mode 100644 index 0000000000000000000000000000000000000000..71037c4c032c1b53d42502729c7a3efe36118e4c --- /dev/null +++ b/dataset_info/R1_Lite_put_the_shoes_into_the_shoe_box.yaml @@ -0,0 +1,796 @@ +dataset_name: put_the_shoes_into_the_shoe_box +dataset_uuid: 87e16c2a-8d5b-4e0b-9706-cfae7e2b29e9 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: shoes + level1: clothing + level2: shoes + level3: null + level4: null + level5: null +- object_name: shoe_box + level1: container + level2: shoe_box + level3: null + level4: null + level5: null +path: R1_Lite_put_the_shoes_into_the_shoe_box +video_url: ./assets/videos/R1_Lite_put_the_shoes_into_the_shoe_box.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_put_the_shoes_into_the_shoe_box.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 3.8GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 106 + total_frames: 87219 + total_tasks: 1 + total_videos: 318 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:105 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: take shoes out of box then put back in and close. +sub_tasks: +- Put the shoes out of the shoe box +- abnormal +- Put the shoes into the shoe box +- Open the shoe box +- Close the shoe box +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_put_the_shoes_into_the_shoe_box_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 388 + dataset_name: put_the_shoes_into_the_shoe_box + dataset_uuid: 87e16c2a-8d5b-4e0b-9706-cfae7e2b29e9 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/put_the_shoes_into_the_shoe_box/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_put_the_shoes_into_the_shoe_box + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: take_out_the_shoe_storage_box + dataset_uuid: null + task_descriptions: + - take shoes out of box then put back in and close. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: shoes + level1: clothing + level2: shoes + level3: null + level4: null + level5: null + - object_name: shoe_box + level1: container + level2: shoe_box + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 106 + total_frames: 87219 + total_tasks: 1 + total_videos: 318 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:105 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_put_the_tableware_into_the_cupboard.yaml b/dataset_info/R1_Lite_put_the_tableware_into_the_cupboard.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cebf1b9d4db2da4eb2b64d1d2bf1a134f381eeb5 --- /dev/null +++ b/dataset_info/R1_Lite_put_the_tableware_into_the_cupboard.yaml @@ -0,0 +1,866 @@ +dataset_name: put_the_tableware_into_the_cupboard +dataset_uuid: 49bc9e7b-4491-4846-95a2-082b0e4f9178 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: cabinet + level1: furniture + level2: cabinet + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +- object_name: chopsticks + level1: tableware + level2: chopsticks + level3: null + level4: null + level5: null +- object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null +- object_name: fork + level1: tableware + level2: fork + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +path: R1_Lite_put_the_tableware_into_the_cupboard +video_url: ./assets/videos/R1_Lite_put_the_tableware_into_the_cupboard.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_put_the_tableware_into_the_cupboard.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 15.5GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 143 + total_frames: 367607 + total_tasks: 1 + total_videos: 429 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:142 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put tableware in cabinet then back to counter and close. +sub_tasks: +- Place the fork in the cutlery box +- Place the spoon on the plate +- Take the bowl out of the cupboard +- Pick up the bowl and place it in the cupboard +- Take the chopsticks out of the cupboard +- Pull apart the shelf +- Pick up the chopsticks and place it in the cupboard +- End +- Take the plate out of the cupboard +- Place the bowl on the shelf +- Take the fork out of the cupboard +- Abnormal +- Place the plate on the table +- Pick up the plate and place it in the cupboard +- Place a chopstick on the table +- Place the plate on the shelf +- Pull apart the cupboard +- Place the fork on the table +- Place a pair of chopsticks in the cutlery box +- Take the spoon out of the cupboard +- Place the bowl on the plate +- Place the spoon on the table +- Place the spoon on the cutlery box +- Open the cupboard +- Pick up the spoon and place it in the cupboard +- Close the cupboard +- Pick up the fork and place it in the cupboard +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_put_the_tableware_into_the_cupboard_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 386 + dataset_name: put_the_tableware_into_the_cupboard + dataset_uuid: 49bc9e7b-4491-4846-95a2-082b0e4f9178 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/store_tableware/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_put_the_tableware_into_the_cupboard + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: put_the_tableware_into_the_cupboard + dataset_uuid: null + task_descriptions: + - put tableware in cabinet then back to counter and close. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: cabinet + level1: furniture + level2: cabinet + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + - object_name: chopsticks + level1: tableware + level2: chopsticks + level3: null + level4: null + level5: null + - object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null + - object_name: fork + level1: tableware + level2: fork + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 143 + total_frames: 367607 + total_tasks: 1 + total_videos: 429 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:142 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_sliding_chair.yaml b/dataset_info/R1_Lite_sliding_chair.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bac08f78c4e81985f3ff90fbe7d640f4b71aea3e --- /dev/null +++ b/dataset_info/R1_Lite_sliding_chair.yaml @@ -0,0 +1,794 @@ +dataset_name: sliding_chair +dataset_uuid: 4bd1c96c-6ba1-4688-b331-2557a39894e2 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: chair + level1: furniture + level2: chair + level3: null + level4: null + level5: null +path: R1_Lite_sliding_chair +video_url: ./assets/videos/R1_Lite_sliding_chair.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_sliding_chair.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 6.6GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 87 + total_frames: 142290 + total_tasks: 1 + total_videos: 261 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:86 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: pull chair out from table then put back. +sub_tasks: +- Push the gray chair back under the dining table +- Pull the gray chair out from under the dining table +- Push the blue chair back under the dining table +- Pull the blue chair out from under the dining table +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_sliding_chair_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 427 + dataset_name: sliding_chair + dataset_uuid: 4bd1c96c-6ba1-4688-b331-2557a39894e2 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/sliding_bar_stool/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_sliding_chair + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: sliding_chair + dataset_uuid: null + task_descriptions: + - pull chair out from table then put back. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: chair + level1: furniture + level2: chair + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 87 + total_frames: 142290 + total_tasks: 1 + total_videos: 261 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:86 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_stack_baskets.yaml b/dataset_info/R1_Lite_stack_baskets.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5068212749541fc7c05dda193443067c2e9c5b44 --- /dev/null +++ b/dataset_info/R1_Lite_stack_baskets.yaml @@ -0,0 +1,871 @@ +dataset_name: stack_baskets +dataset_uuid: 4b7a3d8c-18c0-45af-9337-02adad3a72de +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +path: R1_Lite_stack_baskets +video_url: ./assets/videos/R1_Lite_stack_baskets.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_stack_baskets.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 4.1GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 101 + total_frames: 57189 + total_tasks: 1 + total_videos: 404 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:100 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: stack a basket on top of another basket. +sub_tasks: +- Grasp the dark basket with the right gripper +- End +- Place the light basket on the middle of the table with the left gripper +- Grasp the light basket with the left gripper +- Place the dark basket into the light color basket with the right gripper +- Static +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_left_rgb + name: cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_high_right_rgb + name: cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_left_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_high_right_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +action_space: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_stack_baskets_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 15 + dataset_name: stack_baskets + dataset_uuid: 4b7a3d8c-18c0-45af-9337-02adad3a72de + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/5galaxea_r1_lite/stack_baskets/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_stack_baskets + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: stack_baskets + dataset_uuid: null + task_descriptions: + - place the basket in the center，stack a basket on top of another basket. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 101 + total_frames: 57189 + total_tasks: 1 + total_videos: 404 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:100 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_high_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 18 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_storage_of_toiletries.yaml b/dataset_info/R1_Lite_storage_of_toiletries.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d445503df63db8124d596e705be7f6249d218237 --- /dev/null +++ b/dataset_info/R1_Lite_storage_of_toiletries.yaml @@ -0,0 +1,840 @@ +dataset_name: storage_of_toiletries +dataset_uuid: 25f2cd96-c284-44a9-b59c-98e204e16347 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: storage_bag + level1: container + level2: storage_bag + level3: null + level4: null + level5: null +- object_name: toothpaste + level1: personal_care_products + level2: toothpaste + level3: null + level4: null + level5: null +- object_name: toothbrush + level1: personal_care_products + level2: toothbrush + level3: null + level4: null + level5: null +- object_name: comb + level1: personal_care_products + level2: comb + level3: null + level4: null + level5: null +path: R1_Lite_storage_of_toiletries +video_url: ./assets/videos/R1_Lite_storage_of_toiletries.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_storage_of_toiletries.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 7.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 101 + total_frames: 138432 + total_tasks: 1 + total_videos: 303 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:100 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put comb toothpaste toothbrush in opened storage bag on table. +sub_tasks: +- Place the toothpaste in the storage bag +- Pick up the comb +- Place the comb on the table +- Place the comb into the storage bag +- Pick up the storage bag +- Pick up a toothbrush +- Place the toothpaste on the table +- abnormal +- Pick up the toothpaste +- Open the storage bag +- Close the strorage bag and place it on the desk +- Place the toothbrush in the storage bag +- Hand it to the other hand +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_storage_of_toiletries_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 385 + dataset_name: storage_of_toiletries + dataset_uuid: 25f2cd96-c284-44a9-b59c-98e204e16347 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/replace_the_toiletries/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_storage_of_toiletries + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: storage_of_toiletries + dataset_uuid: null + task_descriptions: + - put comb toothpaste toothbrush in opened storage bag on table. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: storage_bag + level1: container + level2: storage_bag + level3: null + level4: null + level5: null + - object_name: toothpaste + level1: personal_care_products + level2: toothpaste + level3: null + level4: null + level5: null + - object_name: toothbrush + level1: personal_care_products + level2: toothbrush + level3: null + level4: null + level5: null + - object_name: comb + level1: personal_care_products + level2: comb + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 101 + total_frames: 138432 + total_tasks: 1 + total_videos: 303 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:100 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_switch_labels.yaml b/dataset_info/R1_Lite_switch_labels.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ab60a71e7347ecb60aaa327749edb736261ba78c --- /dev/null +++ b/dataset_info/R1_Lite_switch_labels.yaml @@ -0,0 +1,810 @@ +dataset_name: switch_labels +dataset_uuid: e32d8bbd-d12b-45e0-9c3f-932e67428f3d +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: the_door + level1: furniture + level2: the_door + level3: null + level4: null + level5: null +- object_name: door_handle + level1: accessories + level2: door_handle + level3: null + level4: null + level5: null +- object_name: tag + level1: tools + level2: tag + level3: null + level4: null + level5: null +path: R1_Lite_switch_labels +video_url: ./assets/videos/R1_Lite_switch_labels.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_switch_labels.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 7.3GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 99 + total_frames: 171139 + total_tasks: 1 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:98 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: take label off door handle switch sign then put back. +sub_tasks: +- End +- abnormal +- Take down the sign +- Hang the lable on the doorknob with right gripper +- Grasp the lable with left gripper +- Pass the lable from the left gripper to the right gripper +- Hang the sign back with the other side facing out +- Hand it to the other hand +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_switch_labels_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 416 + dataset_name: switch_labels + dataset_uuid: e32d8bbd-d12b-45e0-9c3f-932e67428f3d + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/switch_the_sign/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_switch_labels + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: switch_labels + dataset_uuid: null + task_descriptions: + - take label off door handle switch sign then put back. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: the_door + level1: furniture + level2: the_door + level3: null + level4: null + level5: null + - object_name: door_handle + level1: accessories + level2: door_handle + level3: null + level4: null + level5: null + - object_name: tag + level1: tools + level2: tag + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 99 + total_frames: 171139 + total_tasks: 1 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:98 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_switch_on_and_off_the_central_air_conditioning.yaml b/dataset_info/R1_Lite_switch_on_and_off_the_central_air_conditioning.yaml new file mode 100644 index 0000000000000000000000000000000000000000..237191191f7581ef76a682f1c8632af4d1a0ff93 --- /dev/null +++ b/dataset_info/R1_Lite_switch_on_and_off_the_central_air_conditioning.yaml @@ -0,0 +1,783 @@ +dataset_name: switch_on_and_off_the_central_air_conditioning +dataset_uuid: 6d6d5868-e715-41cc-a7df-972218e02479 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: central_air_conditioning + level1: household_appliances + level2: central_air_conditioning + level3: null + level4: null + level5: null +path: R1_Lite_switch_on_and_off_the_central_air_conditioning +video_url: ./assets/videos/R1_Lite_switch_on_and_off_the_central_air_conditioning.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_switch_on_and_off_the_central_air_conditioning.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 793.3MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 35 + total_frames: 19688 + total_tasks: 1 + total_videos: 105 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:34 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: turn on ac press temp up down then turn off. +sub_tasks: +- Turn off the central air conditioner +- Press the temperature decrease button +- Press the temperature increase button +- Turn on the central air conditioner +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_switch_on_and_off_the_central_air_conditioning_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 431 + dataset_name: switch_on_and_off_the_central_air_conditioning + dataset_uuid: 6d6d5868-e715-41cc-a7df-972218e02479 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/turn_on_and_off_central_air_conditioning_system/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_switch_on_and_off_the_central_air_conditioning + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: switch_on_and_off_the_central_air_conditioning + dataset_uuid: null + task_descriptions: + - turn on ac press temp up down. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: central_air_conditioning + level1: household_appliances + level2: central_air_conditioning + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 35 + total_frames: 19688 + total_tasks: 1 + total_videos: 105 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:34 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_tableware_arrangement.yaml b/dataset_info/R1_Lite_tableware_arrangement.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aba9f2e41d56d2de372ac2933f04b699b66bcd23 --- /dev/null +++ b/dataset_info/R1_Lite_tableware_arrangement.yaml @@ -0,0 +1,846 @@ +dataset_name: tableware_arrangement +dataset_uuid: 85abe0d0-6c0a-432a-9dd0-14e2ca009399 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: chopsticks + level1: tableware + level2: chopsticks + level3: null + level4: null + level5: null +- object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: lunch_box + level1: container + level2: lunch_box + level3: null + level4: null + level5: null +path: R1_Lite_tableware_arrangement +video_url: ./assets/videos/R1_Lite_tableware_arrangement.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_tableware_arrangement.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 628.5MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 8 + total_frames: 16015 + total_tasks: 1 + total_videos: 24 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:7 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put chopsticks spoons bowls into lunch boxes on plates. +sub_tasks: +- Put the chopsticks back from the plate +- Put the bowl back from the plate +- Put the spoon back from the bowl +- Pick the chopsticks and place it on the plate +- abnormal +- Pick the bowl and place it on the plate +- Pick the spoon and place it in the bowl +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_tableware_arrangement_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 387 + dataset_name: tableware_arrangement + dataset_uuid: 85abe0d0-6c0a-432a-9dd0-14e2ca009399 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/take_and_place_tableware/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_tableware_arrangement + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: tableware_arrangement + dataset_uuid: null + task_descriptions: + - put chopsticks spoons bowls on plates.Put away chopsticks, spoons, and bowls. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: chopsticks + level1: tableware + level2: chopsticks + level3: null + level4: null + level5: null + - object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: lunch_box + level1: container + level2: lunch_box + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 8 + total_frames: 16015 + total_tasks: 1 + total_videos: 24 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:7 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_tableware_cleaning.yaml b/dataset_info/R1_Lite_tableware_cleaning.yaml new file mode 100644 index 0000000000000000000000000000000000000000..45c4a911c713687e7d1e936a900ce49abc7d6b97 --- /dev/null +++ b/dataset_info/R1_Lite_tableware_cleaning.yaml @@ -0,0 +1,876 @@ +dataset_name: tableware_cleaning +dataset_uuid: 1969fa83-52f1-4c9f-94c6-6f9802241318 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +- object_name: chopsticks + level1: tableware + level2: chopsticks + level3: null + level4: null + level5: null +- object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: dishwashing_liquid + level1: cleaning_supplies + level2: dishwashing_liquid + level3: null + level4: null + level5: null +- object_name: sponge + level1: cleaning_supplies + level2: sponge + level3: null + level4: null + level5: null +path: R1_Lite_tableware_cleaning +video_url: ./assets/videos/R1_Lite_tableware_cleaning.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_tableware_cleaning.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 17.6GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 102 + total_frames: 327254 + total_tasks: 1 + total_videos: 306 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:101 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: wipe the tableware with a sponge containing detergent then put them in their + original places. +sub_tasks: +- End +- Rinse the chopsticks +- Place the dish soap on the table +- Wipe the plate +- Rinse the plate +- Place the chopsticks on the glass basin +- Pick up a bowl and the sponge +- Rinse the bowl +- Wash the plate +- Place the plate on the plate +- Place the plate on the table +- Place the spoon in the glass basin +- Place the bowl on the table +- Wipe the bowl +- Squeeze it onto the sponge +- Abnormal +- Rinse the spoon +- Place the bowl on the plate +- Put down the sponge +- Place the bowl on the bowl +- Turn off the faucet +- Grab the dish soap +- Wash the bowl +- Turn on the faucet +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_tableware_cleaning_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 430 + dataset_name: tableware_cleaning + dataset_uuid: 1969fa83-52f1-4c9f-94c6-6f9802241318 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/special_version_for_dishwashing/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_tableware_cleaning + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: tableware_cleaning + dataset_uuid: null + task_descriptions: + - wipe the tableware with a sponge containing detergent then put them in their + original places. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + - object_name: chopsticks + level1: tableware + level2: chopsticks + level3: null + level4: null + level5: null + - object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: dishwashing_liquid + level1: cleaning_supplies + level2: dishwashing_liquid + level3: null + level4: null + level5: null + - object_name: sponge + level1: cleaning_supplies + level2: sponge + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 102 + total_frames: 327254 + total_tasks: 1 + total_videos: 306 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:101 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_take_and_place_the_portable_power_bank.yaml b/dataset_info/R1_Lite_take_and_place_the_portable_power_bank.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e6e26c6c7d9b3319075957d65000874267a2414d --- /dev/null +++ b/dataset_info/R1_Lite_take_and_place_the_portable_power_bank.yaml @@ -0,0 +1,800 @@ +dataset_name: take_and_place_the_portable_power_bank +dataset_uuid: f283fb8d-62de-4238-bb07-bcac110d50bb +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: cloth_bag + level1: container + level2: cloth_bag + level3: null + level4: null + level5: null +- object_name: portable_power_bank + level1: electronic_equipment + level2: portable_power_bank + level3: null + level4: null + level5: null +path: R1_Lite_take_and_place_the_portable_power_bank +video_url: ./assets/videos/R1_Lite_take_and_place_the_portable_power_bank.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_take_and_place_the_portable_power_bank.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 17.3GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 110 + total_frames: 237234 + total_tasks: 1 + total_videos: 330 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:109 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: open cloth bag take out power bank then put back. +sub_tasks: +- Open the top of the storage box +- Release the handle +- Grip the handle again +- End +- abnormal +- Lift the black box +- Grip the handle +- Place the black box back +- Close the top of the storage box +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_take_and_place_the_portable_power_bank_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 398 + dataset_name: take_and_place_the_portable_power_bank + dataset_uuid: f283fb8d-62de-4238-bb07-bcac110d50bb + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/take_and_place_the_portable_power_bank/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_take_and_place_the_portable_power_bank + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: Mobile power bank removal and storage + dataset_uuid: null + task_descriptions: + - open cloth bag take out power bank then put back. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: cloth_bag + level1: container + level2: cloth_bag + level3: null + level4: null + level5: null + - object_name: portable_power_bank + level1: electronic_equipment + level2: portable_power_bank + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 110 + total_frames: 237234 + total_tasks: 1 + total_videos: 330 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:109 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_take_and_put_away_garden_stuff.yaml b/dataset_info/R1_Lite_take_and_put_away_garden_stuff.yaml new file mode 100644 index 0000000000000000000000000000000000000000..247fcb02b4b1a3690d89768c1bf13cb3b11aa3bc --- /dev/null +++ b/dataset_info/R1_Lite_take_and_put_away_garden_stuff.yaml @@ -0,0 +1,889 @@ +dataset_name: take_and_put_away_garden_stuff +dataset_uuid: 05f234b5-3958-4897-b330-5c91290dd15c +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +- pull +- push +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: refrigerator + level1: furniture + level2: refrigerator + level3: null + level4: null + level5: null +- object_name: drawer + level1: container + level2: drawer + level3: null + level4: null + level5: null +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: tray + level1: container + level2: tray + level3: null + level4: null + level5: null +- object_name: potato + level1: food + level2: potato + level3: null + level4: null + level5: null +- object_name: green_pepper + level1: food + level2: green_pepper + level3: null + level4: null + level5: null +- object_name: pumpkin + level1: food + level2: pumpkin + level3: null + level4: null + level5: null +- object_name: apple + level1: food + level2: apple + level3: null + level4: null + level5: null +- object_name: orange + level1: food + level2: orange + level3: null + level4: null + level5: null +path: R1_Lite_take_and_put_away_garden_stuff +video_url: ./assets/videos/R1_Lite_take_and_put_away_garden_stuff.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_take_and_put_away_garden_stuff.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 7.5GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 53 + total_frames: 135711 + total_tasks: 1 + total_videos: 159 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:52 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put garden stuff in fridge drawer then take out to table. +sub_tasks: +- Pick up the ball on the table +- Pick up the ball on the lid +- Put the toys in the box +- Open the lid +- abnormal +- Close the lid +- Put the ball in the box +- Pick up the ball on the floor +- Pick up toys out of the box +- Find toys out of the box +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_take_and_put_away_garden_stuff_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 391 + dataset_name: take_and_put_away_garden_stuff + dataset_uuid: 05f234b5-3958-4897-b330-5c91290dd15c + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/organize_toys/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_take_and_put_away_garden_stuff + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: 59 + yaml: + dataset_name: storage_items + dataset_uuid: null + task_descriptions: + - put the items on the ground and table into boxes, and cover the boxes. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + - pull + - push + objects: + - object_name: refrigerator + level1: furniture + level2: refrigerator + level3: null + level4: null + level5: null + - object_name: drawer + level1: container + level2: drawer + level3: null + level4: null + level5: null + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: tray + level1: container + level2: tray + level3: null + level4: null + level5: null + - object_name: potato + level1: food + level2: potato + level3: null + level4: null + level5: null + - object_name: green_pepper + level1: food + level2: green_pepper + level3: null + level4: null + level5: null + - object_name: pumpkin + level1: food + level2: pumpkin + level3: null + level4: null + level5: null + - object_name: apple + level1: food + level2: apple + level3: null + level4: null + level5: null + - object_name: orange + level1: food + level2: orange + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 53 + total_frames: 135711 + total_tasks: 1 + total_videos: 159 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:52 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_take_and_put_away_garden_stuff_a.yaml b/dataset_info/R1_Lite_take_and_put_away_garden_stuff_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..343299ecd5d8051aef56540344a4426ada0a28c4 --- /dev/null +++ b/dataset_info/R1_Lite_take_and_put_away_garden_stuff_a.yaml @@ -0,0 +1,913 @@ +dataset_name: take_and_put_away_garden_stuff_a +dataset_uuid: 7c763184-bc85-4d7e-b01b-85ba85cbb6f2 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +- pull +- push +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: refrigerator + level1: furniture + level2: refrigerator + level3: null + level4: null + level5: null +- object_name: drawer + level1: container + level2: drawer + level3: null + level4: null + level5: null +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: tray + level1: container + level2: tray + level3: null + level4: null + level5: null +- object_name: potato + level1: food + level2: potato + level3: null + level4: null + level5: null +- object_name: green_pepper + level1: food + level2: green_pepper + level3: null + level4: null + level5: null +- object_name: pumpkin + level1: food + level2: pumpkin + level3: null + level4: null + level5: null +- object_name: apple + level1: food + level2: apple + level3: null + level4: null + level5: null +- object_name: orange + level1: food + level2: orange + level3: null + level4: null + level5: null +path: R1_Lite_take_and_put_away_garden_stuff_a +video_url: ./assets/videos/R1_Lite_take_and_put_away_garden_stuff_a.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_take_and_put_away_garden_stuff_a.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 15.9GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 148 + total_frames: 355644 + total_tasks: 1 + total_videos: 444 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:147 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put garden stuff in fridge drawer then take out to table. +sub_tasks: +- Grasp the apple and place it on the table with right gripper +- Place the green bell pepper in the lower drawer with right gripper +- Put green pepper in the refrigerator drawer +- Place the orange in the lower drawer with right gripper +- Place the potato in the lower drawer with left gripper +- Take out the potato and place it on the table +- Open the refrigerator door with left gripper +- Place the potato in the lower drawer with right gripper +- Take out the apple and place it on the tray +- Open the refrigerator door +- End +- Close the refrigerator door +- Close the lower drawer with the left gripper +- Grasp the potato and place it on the table with left gripper +- Open the lower refrigerator drawer +- Close the middle refrigerator door with the right gripper +- Place the apple in the lower drawer with right gripper +- Put orange in the refrigerator drawer +- Abnormal +- Put pumpkin in the refrigerator drawer +- Grasp the potato and place it on the table with right gripper +- Close the lower refrigerator drawer +- Place the green bell pepper in the lower drawer with left gripper +- Put apple in the refrigerator drawer +- Take out the pumpkin and place it on the table +- Close the lower drawer with the right gripper +- Grasp the orange and place it on the table with right gripper +- Put potato in the refrigerator drawer +- Take out the green pepper and place it on the table +- Take out the orange and place it on the tray +- Grasp the green bell pepper and place it on the table with right gripper +- Take out the apple and place it on the table +- Open the lower drawer with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_take_and_put_away_garden_stuff_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 435 + dataset_name: take_and_put_away_garden_stuff_a + dataset_uuid: 7c763184-bc85-4d7e-b01b-85ba85cbb6f2 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/opening_or_closing_refrigerator_drawers_to_store_and_retrieve_items/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_take_and_put_away_garden_stuff_a + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: Removing_and_storing_items_from_the_refrigerator + dataset_uuid: null + task_descriptions: + - Put the things on the table in the refrigerator drawer, then take them out and + place them on the table. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + - pull + - push + objects: + - object_name: refrigerator + level1: furniture + level2: refrigerator + level3: null + level4: null + level5: null + - object_name: drawer + level1: container + level2: drawer + level3: null + level4: null + level5: null + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: tray + level1: container + level2: tray + level3: null + level4: null + level5: null + - object_name: potato + level1: food + level2: potato + level3: null + level4: null + level5: null + - object_name: green_pepper + level1: food + level2: green_pepper + level3: null + level4: null + level5: null + - object_name: pumpkin + level1: food + level2: pumpkin + level3: null + level4: null + level5: null + - object_name: apple + level1: food + level2: apple + level3: null + level4: null + level5: null + - object_name: orange + level1: food + level2: orange + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 148 + total_frames: 355644 + total_tasks: 1 + total_videos: 444 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:147 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_take_and_put_away_items.yaml b/dataset_info/R1_Lite_take_and_put_away_items.yaml new file mode 100644 index 0000000000000000000000000000000000000000..64c625b95a3db07bea004fb0797e423ba69438cc --- /dev/null +++ b/dataset_info/R1_Lite_take_and_put_away_items.yaml @@ -0,0 +1,853 @@ +dataset_name: take_and_put_away_items +dataset_uuid: fa3f7148-5f74-444e-82a5-9f8b31a69987 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +- pull +- push +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: drawer + level1: container + level2: drawer + level3: null + level4: null + level5: null +- object_name: umbrella + level1: daily_necessities + level2: umbrella + level3: null + level4: null + level5: null +- object_name: data_cable + level1: electronic_products + level2: data_cable + level3: null + level4: null + level5: null +- object_name: mineral_water + level1: beverages + level2: mineral_water + level3: null + level4: null + level5: null +- object_name: storage_box + level1: container + level2: storage_box + level3: null + level4: null + level5: null +path: R1_Lite_take_and_put_away_items +video_url: ./assets/videos/R1_Lite_take_and_put_away_items.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_take_and_put_away_items.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 6.9GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 112 + total_frames: 137069 + total_tasks: 1 + total_videos: 336 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:111 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: take out or store umbrellas water cables boxes on drawers tables. +sub_tasks: +- Take the mineral water out of the drawer and put it on the table +- Open the drawer +- Take the data cable out of the drawer and put it on the table +- Take the umbrella out of the drawer and put it on the table +- Take the storage box out of the drawer and put it on the table +- Put the storage box in the drawer +- Close the drawer +- Put the umbrella in the drawer +- Put the data cable in the drawer +- Put the mineral water in the drawer +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_take_and_put_away_items_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 409 + dataset_name: take_and_put_away_items + dataset_uuid: fa3f7148-5f74-444e-82a5-9f8b31a69987 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/getting_or_storing_items_in_the_tv_stand/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_take_and_put_away_items + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: Storage and retrieval of items + dataset_uuid: null + task_descriptions: + - take out or store umbrellas water cables boxes on drawers tables. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + - pull + - push + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: drawer + level1: container + level2: drawer + level3: null + level4: null + level5: null + - object_name: umbrella + level1: daily_necessities + level2: umbrella + level3: null + level4: null + level5: null + - object_name: data_cable + level1: electronic_products + level2: data_cable + level3: null + level4: null + level5: null + - object_name: mineral_water + level1: beverages + level2: mineral_water + level3: null + level4: null + level5: null + - object_name: storage_box + level1: container + level2: storage_box + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 112 + total_frames: 137069 + total_tasks: 1 + total_videos: 336 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:111 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_take_and_put_the_bowl.yaml b/dataset_info/R1_Lite_take_and_put_the_bowl.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1df0e057c396823e9212021236e5f0e61dc8aabf --- /dev/null +++ b/dataset_info/R1_Lite_take_and_put_the_bowl.yaml @@ -0,0 +1,834 @@ +dataset_name: take_and_put_the_bowl +dataset_uuid: 29eb76ea-0c49-4f11-8073-7f7501b77736 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: cabinet + level1: furniture + level2: cabinet + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +- object_name: cabinet_door + level1: furniture + level2: cabinet_door + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +path: R1_Lite_take_and_put_the_bowl +video_url: ./assets/videos/R1_Lite_take_and_put_the_bowl.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_take_and_put_the_bowl.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 7.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 94 + total_frames: 189200 + total_tasks: 1 + total_videos: 282 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:93 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put bowls plates in cabinet then take out to table close. +sub_tasks: +- Place it on the table +- Put it back into the cabinet +- Take the plate from the cabinet +- Pick up the plate from the table +- Close the cabinet door +- Pick up the bowl from the table +- Take the bowl from the cabinet +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_take_and_put_the_bowl_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 432 + dataset_name: take_and_put_the_bowl + dataset_uuid: 29eb76ea-0c49-4f11-8073-7f7501b77736 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/take_a_bowl_from_the_cabinet/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_take_and_put_the_bowl + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: Take out and store bowls + dataset_uuid: null + task_descriptions: + - put bowls plates in cabinet then take out to table close. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: cabinet + level1: furniture + level2: cabinet + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + - object_name: cabinet_door + level1: furniture + level2: cabinet_door + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 94 + total_frames: 189200 + total_tasks: 1 + total_videos: 282 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:93 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_take_clothes_out_of_the_washing_machine.yaml b/dataset_info/R1_Lite_take_clothes_out_of_the_washing_machine.yaml new file mode 100644 index 0000000000000000000000000000000000000000..31cf181a0744a61907a296363cbb31357cadd03b --- /dev/null +++ b/dataset_info/R1_Lite_take_clothes_out_of_the_washing_machine.yaml @@ -0,0 +1,815 @@ +dataset_name: take_clothes_out_of_the_washing_machine +dataset_uuid: 75315916-19f4-400c-99a4-2bd123e2a42a +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: washing_machine + level1: electrical_appliances + level2: washing_machine + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +- object_name: cloth + level1: clothing + level2: cloth + level3: null + level4: null + level5: null +path: R1_Lite_take_clothes_out_of_the_washing_machine +video_url: ./assets/videos/R1_Lite_take_clothes_out_of_the_washing_machine.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_take_clothes_out_of_the_washing_machine.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 16.1GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 114 + total_frames: 238333 + total_tasks: 1 + total_videos: 342 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:113 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: Open the washing machine, take out the clothes from inside and put them in + the basket, then close the door of the washing machine. +sub_tasks: +- Press the washing machine switch +- Close the washing machine door with the right hand +- Open the lid of the washing machine +- Close the washing machine door with the left hand +- Pick a cloth and place it into the basket +- Place the clothes into the washing machine +- End +- Press the washing machine door tightly with the right hand +- abnormal +- Pick up the clothes basket and put it beside the washing machine +- Move to the front of the washing machine +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_take_clothes_out_of_the_washing_machine_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 404 + dataset_name: take_clothes_out_of_the_washing_machine + dataset_uuid: 75315916-19f4-400c-99a4-2bd123e2a42a + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/take_out_the_laundry_from_the_washing_machine/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_take_clothes_out_of_the_washing_machine + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: take_clothes_out_of_the_washing_machine + dataset_uuid: null + task_descriptions: + - turn on washer put clothes in then take out to basket. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: washing_machine + level1: electrical_appliances + level2: washing_machine + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + - object_name: cloth + level1: clothing + level2: cloth + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 114 + total_frames: 238333 + total_tasks: 1 + total_videos: 342 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:113 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_take_or_store_plates.yaml b/dataset_info/R1_Lite_take_or_store_plates.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f09b54fad084d12f637b34f1a463892380789bbb --- /dev/null +++ b/dataset_info/R1_Lite_take_or_store_plates.yaml @@ -0,0 +1,819 @@ +dataset_name: take_or_store_plates +dataset_uuid: 3c2c0596-7690-4f94-911f-74035fe6e126 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: cabinet + level1: furniture + level2: cabinet + level3: null + level4: null + level5: null +- object_name: drawer + level1: container + level2: drawer + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: stove + level1: furniture + level2: stove + level3: null + level4: null + level5: null +path: R1_Lite_take_or_store_plates +video_url: ./assets/videos/R1_Lite_take_or_store_plates.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_take_or_store_plates.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 5.2GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 105 + total_frames: 138676 + total_tasks: 1 + total_videos: 315 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:104 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: take out or store plates on the stove and in the cabinet drawers. +sub_tasks: +- Pick up the plate on the stove +- Put the plate in the cupboard +- Pick up the plate in the cupboard +- Put the plate on the stove +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_take_or_store_plates_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 401 + dataset_name: take_or_store_plates + dataset_uuid: 3c2c0596-7690-4f94-911f-74035fe6e126 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/handle_plates/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_take_or_store_plates + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: take_or_store_plates + dataset_uuid: null + task_descriptions: + - take out or store plates on the stove and in the cabinet drawers. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: cabinet + level1: furniture + level2: cabinet + level3: null + level4: null + level5: null + - object_name: drawer + level1: container + level2: drawer + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: stove + level1: furniture + level2: stove + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 105 + total_frames: 138676 + total_tasks: 1 + total_videos: 315 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:104 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_tea_service_table_setting.yaml b/dataset_info/R1_Lite_tea_service_table_setting.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f9164e91f3f5ab5faf69b35246880e488a3fe5c6 --- /dev/null +++ b/dataset_info/R1_Lite_tea_service_table_setting.yaml @@ -0,0 +1,852 @@ +dataset_name: tea_service_table_setting +dataset_uuid: ae8f641b-7e62-47e3-a80a-aab9866a8d29 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: tea_table + level1: furniture + level2: tea_table + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: mineral_water + level1: beverages + level2: mineral_water + level3: null + level4: null + level5: null +- object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null +- object_name: kettle + level1: container + level2: kettle + level3: null + level4: null + level5: null +- object_name: tea_bag + level1: drink + level2: tea_bag + level3: null + level4: null + level5: null +path: R1_Lite_tea_service_table_setting +video_url: ./assets/videos/R1_Lite_tea_service_table_setting.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_tea_service_table_setting.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 4.6GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 109 + total_frames: 107465 + total_tasks: 1 + total_videos: 327 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:108 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: take water kettle tea bags from tray to table then back. +sub_tasks: +- Return the tea bag to its original position +- Pick up the tea bag +- Pick up the tea cup +- Return the tea cup to its original position +- abnormal +- Return the bottled water to its original position +- Place it on the right +- Return the kettle to its original position +- Place it on the left +- Place it in front of you +- Pick up the kettle +- Pick up the bottled water +- Place it on the tray +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_tea_service_table_setting_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 434 + dataset_name: tea_service_table_setting + dataset_uuid: ae8f641b-7e62-47e3-a80a-aab9866a8d29 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/tea_service_table_setting/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_tea_service_table_setting + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: tea_service_table_setting + dataset_uuid: null + task_descriptions: + - take water kettle tea bags from tray to table then back. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: tea_table + level1: furniture + level2: tea_table + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: mineral_water + level1: beverages + level2: mineral_water + level3: null + level4: null + level5: null + - object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null + - object_name: kettle + level1: container + level2: kettle + level3: null + level4: null + level5: null + - object_name: tea_bag + level1: drink + level2: tea_bag + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 109 + total_frames: 107465 + total_tasks: 1 + total_videos: 327 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:108 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_throw_out_the_trash.yaml b/dataset_info/R1_Lite_throw_out_the_trash.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ae2777ae55fa42a12d6b9188e2fb4c008695f0d4 --- /dev/null +++ b/dataset_info/R1_Lite_throw_out_the_trash.yaml @@ -0,0 +1,808 @@ +dataset_name: throw_out_the_trash +dataset_uuid: 1aceeebe-3221-4690-8d72-ca6f9ec512eb +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: trash_can + level1: container + level2: trash_can + level3: null + level4: null + level5: null +- object_name: garbage_bag + level1: container + level2: garbage_bag + level3: null + level4: null + level5: null +- object_name: the_door + level1: furniture + level2: the_door + level3: null + level4: null + level5: null +path: R1_Lite_throw_out_the_trash +video_url: ./assets/videos/R1_Lite_throw_out_the_trash.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_throw_out_the_trash.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 6.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 109 + total_frames: 143720 + total_tasks: 1 + total_videos: 327 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:108 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: take garbage bag from can walk to door put on ground. +sub_tasks: +- End +- Place the outer trash can on the ground +- Put the trash bag at the door +- Pick up the trash bag +- abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_throw_out_the_trash_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 424 + dataset_name: throw_out_the_trash + dataset_uuid: 1aceeebe-3221-4690-8d72-ca6f9ec512eb + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/put_the_trash_bag_at_the_door/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_throw_out_the_trash + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: throw_out_the_trash + dataset_uuid: null + task_descriptions: + - take garbage bag from can walk to door put on ground. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: trash_can + level1: container + level2: trash_can + level3: null + level4: null + level5: null + - object_name: garbage_bag + level1: container + level2: garbage_bag + level3: null + level4: null + level5: null + - object_name: the_door + level1: furniture + level2: the_door + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 109 + total_frames: 143720 + total_tasks: 1 + total_videos: 327 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:108 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_tidy_up_toiletries.yaml b/dataset_info/R1_Lite_tidy_up_toiletries.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e7232385a75033e6e87e526d38985ace8439001a --- /dev/null +++ b/dataset_info/R1_Lite_tidy_up_toiletries.yaml @@ -0,0 +1,839 @@ +dataset_name: tidy_up_toiletries +dataset_uuid: 8dfd4c19-842d-4dce-8253-ffaf5f56d7df +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: toiletries + level1: personal_care_products + level2: toiletries + level3: null + level4: null + level5: null +- object_name: drawer + level1: container + level2: drawer + level3: null + level4: null + level5: null +- object_name: storage_box + level1: container + level2: storage_box + level3: null + level4: null + level5: null +- object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null +path: R1_Lite_tidy_up_toiletries +video_url: ./assets/videos/R1_Lite_tidy_up_toiletries.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_tidy_up_toiletries.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 9.8GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 115 + total_frames: 205789 + total_tasks: 1 + total_videos: 345 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:114 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: put toiletries in drawer and cup in box or on table. +sub_tasks: +- Place the cup on the table +- Place the comb on the table with the right gripper +- Place the bathroom toiletry into the drawer +- Pick up the cup +- Pick up the bathroom toiletry +- Open the drawer with the left gripper +- Grasp the bathroom toiletry with the left gripper +- Put toiletries in the drawer +- Grasp the black cup with the left gripper +- Place the cup on the storage box +- Close the drawer +- Open the drawer +- Place the black cup on the drawer with the left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_tidy_up_toiletries_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 383 + dataset_name: tidy_up_toiletries + dataset_uuid: 8dfd4c19-842d-4dce-8253-ffaf5f56d7df + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/tidy_up_bathroom_toiletries/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_tidy_up_toiletries + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: tidy_up_toiletries + dataset_uuid: null + task_descriptions: + - put toiletries in drawer and cup in box or on table. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: toiletries + level1: personal_care_products + level2: toiletries + level3: null + level4: null + level5: null + - object_name: drawer + level1: container + level2: drawer + level3: null + level4: null + level5: null + - object_name: storage_box + level1: container + level2: storage_box + level3: null + level4: null + level5: null + - object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 115 + total_frames: 205789 + total_tasks: 1 + total_videos: 345 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:114 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_wash_the_tableware.yaml b/dataset_info/R1_Lite_wash_the_tableware.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b879d29d94fbec3889a816a83e595a3e3e13a13f --- /dev/null +++ b/dataset_info/R1_Lite_wash_the_tableware.yaml @@ -0,0 +1,878 @@ +dataset_name: wash_the_tableware +dataset_uuid: 62b4f49b-4413-4d29-9822-c440835cdf41 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: sink + level1: container + level2: sink + level3: null + level4: null + level5: null +- object_name: chopsticks + level1: tableware + level2: chopsticks + level3: null + level4: null + level5: null +- object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +path: R1_Lite_wash_the_tableware +video_url: ./assets/videos/R1_Lite_wash_the_tableware.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_wash_the_tableware.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 7.3GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 137 + total_frames: 197672 + total_tasks: 1 + total_videos: 411 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:136 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: turn on faucet put tableware in sink rinse then back. +sub_tasks: +- Grasp yellow bowl with right gripper +- Pick up the bowl +- Open the dispenser valve with right gripper +- End +- Rinse the chopsticks +- Put the chopsticks into the sink +- Place the chopsticks on the table +- Put a spoon back to the table from the sink +- Put a bowl back to the table from the sink +- Place pink bowl into the sink with right gripper +- Rinse the plate +- Wait for the water to rinse the bowl +- Place a chopstick into the sink with right gripper +- Put a bowl into the sink +- Rinse the bowl +- Place a chopstick on the bowl with right gripper +- Place the plate on the table +- Pour the water from the yellow bowl into the sink with right gripper +- Place the bowl on the table +- Pick up the chopsticks +- Put the chopsticks back to the table from the sink +- Put a spoon into the sink +- Pour the water from the pink bowl into the sink with right gripper +- Place the chopsticks on the bowl +- Abnormal +- Pick up the spoon +- Rinse the spoon +- Place yellow bowl on the table with right gripper +- Place yellow bowl into the sink with right gripper +- Place the spoon on the plate +- Put a plate back to the table from the sink +- Turn off the faucet +- Pick up the plate +- Place the spoon on the bowl +- Close the dispenser valve with right gripper +- Grasp a chopstick with right gripper +- Grasp pink bowl with right gripper +- Turn on the faucet +- Place pink bowl on the table with right gripper +- Put a plate into the sink +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_wash_the_tableware_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 389 + dataset_name: wash_the_tableware + dataset_uuid: 62b4f49b-4413-4d29-9822-c440835cdf41 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/wash_dishes/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_wash_the_tableware + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: wash_the_tableware + dataset_uuid: null + task_descriptions: + - turn on faucet put tableware in sink rinse then back. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: sink + level1: container + level2: sink + level3: null + level4: null + level5: null + - object_name: chopsticks + level1: tableware + level2: chopsticks + level3: null + level4: null + level5: null + - object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 137 + total_frames: 197672 + total_tasks: 1 + total_videos: 411 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:136 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_washing_board.yaml b/dataset_info/R1_Lite_washing_board.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a36c586ac6894f9580faca0e4e1d8d3a8429dea9 --- /dev/null +++ b/dataset_info/R1_Lite_washing_board.yaml @@ -0,0 +1,828 @@ +dataset_name: washing_board +dataset_uuid: 5321a05d-2861-4198-a91f-b238e2567ee9 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +- open +- wipe +- close +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: faucet + level1: tool + level2: faucet + level3: null + level4: null + level5: null +- object_name: sponge + level1: daily_necessities + level2: sponge + level3: null + level4: null + level5: null +- object_name: cutting_board + level1: tool + level2: cutting_board + level3: null + level4: null + level5: null +- object_name: sink + level1: container + level2: sink + level3: null + level4: null + level5: null +path: R1_Lite_washing_board +video_url: ./assets/videos/R1_Lite_washing_board.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_washing_board.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 6.9GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 97 + total_frames: 156103 + total_tasks: 1 + total_videos: 291 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:96 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: turn on tap scrub cutting board with cloth then turn off tap. +sub_tasks: +- Pick up the cleaning cloth +- abnormal +- Turn on the tap +- Put down the cutting board +- Put down the cleaning cloth +- Pick up the cutting board +- Turn off the tap +- Scrub the cutting board underwater +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_washing_board_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 381 + dataset_name: washing_board + dataset_uuid: 5321a05d-2861-4198-a91f-b238e2567ee9 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/clean_cutting_board/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_washing_board + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: washing_board + dataset_uuid: null + task_descriptions: + - turn on tap scrub cutting board with cloth then turn off tap. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + - open + - wipe + - close + objects: + - object_name: faucet + level1: tool + level2: faucet + level3: null + level4: null + level5: null + - object_name: sponge + level1: daily_necessities + level2: sponge + level3: null + level4: null + level5: null + - object_name: cutting_board + level1: tool + level2: cutting_board + level3: null + level4: null + level5: null + - object_name: sink + level1: container + level2: sink + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 97 + total_frames: 156103 + total_tasks: 1 + total_videos: 291 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:96 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/R1_Lite_wipe_the_table.yaml b/dataset_info/R1_Lite_wipe_the_table.yaml new file mode 100644 index 0000000000000000000000000000000000000000..88f68cdfa94c28a531e9c6ff55198f7004730b42 --- /dev/null +++ b/dataset_info/R1_Lite_wipe_the_table.yaml @@ -0,0 +1,808 @@ +dataset_name: wipe_the_table +dataset_uuid: b7447b1b-1e24-4b6f-9835-82048a217823 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null +- object_name: stains + level1: rubbish + level2: stains + level3: null + level4: null + level5: null +path: R1_Lite_wipe_the_table +video_url: ./assets/videos/R1_Lite_wipe_the_table.mp4 +thumbnail_url: ./assets/thumbnails/R1_Lite_wipe_the_table.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 2.4GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: galaxea_r1_lite +codebase_version: v2.1 +statistics: + total_episodes: 107 + total_frames: 67215 + total_tasks: 1 + total_videos: 321 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:106 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: wipe the stains on the table with a cloth. +sub_tasks: +- Pick up the tablecloth +- Place the tablecloth +- Place the bottle at the back of the table +- Pick up the bottle +- Sweep the stains on the table +- Hand it to the other hand +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +action_space: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "R1_Lite_wipe_the_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 382 + dataset_name: wipe_the_table + dataset_uuid: b7447b1b-1e24-4b6f-9835-82048a217823 + device_model: Galaxea_R1_Lite + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker/外部数据/星海图外部1.5w/videos/train/wipe_the_desktop/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/R1_Lite_wipe_the_table + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: wipe_the_table + dataset_uuid: null + task_descriptions: + - wipe the stains on the table with a cloth. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null + - object_name: stains + level1: rubbish + level2: stains + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - galaxea_r1_lite + end_effector_type: two_finger_gripper + meta: + robot_type: galaxea_r1_lite + codebase_version: v2.1 + statistics: + total_episodes: 107 + total_frames: 67215 + total_tasks: 1 + total_videos: 321 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:106 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_basket_storage_banana.yaml b/dataset_info/RMC-AIDA-L_basket_storage_banana.yaml new file mode 100644 index 0000000000000000000000000000000000000000..763e7a97a7406113c4fc9c9ab85109eadd41284f --- /dev/null +++ b/dataset_info/RMC-AIDA-L_basket_storage_banana.yaml @@ -0,0 +1,927 @@ +dataset_name: basket_storage_banana +dataset_uuid: 95db1bea-22a4-4ba9-9097-ef3711a084d0 +scene_type: +- home +- kitchen +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +- object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null +path: RMC-AIDA-L_basket_storage_banana +video_url: ./assets/videos/RMC-AIDA-L_basket_storage_banana.mp4 +thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_basket_storage_banana.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 3.1GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: realman_rmc_aidal +codebase_version: v2.1 +statistics: + total_episodes: 654 + total_frames: 306335 + total_tasks: 4 + total_videos: 1962 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:653 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'the left gripper pick up the basket to the appropriate position, the right + gripper pick up the banana and place it into the basket. + + the right gripper pick up the black basket and place it horizontally in the middle + of the table, the left gripper pick up the banana and place it into the black basket. + + the left gripper pick up the black basket and place it horizontally in the middle + of the table, the right gripper pick up the banana and place it into the black basket. + + the right gripper pick up the yellow basket and place it horizontally in the middle + of the table, the left gripper pick up the banana and place it into the yellow basket.' +sub_tasks: +- Pick up the banana with the right gripper +- Pick up the light basket with the right gripper +- abnormal +- Place the banana into the light basket with the left gripper +- Place the dark basket in the center of view with the left gripper +- Place the light basket in the center of view with the right gripper +- Place the basket in the center of view with the left gripper +- Pick up the banana with the left gripper +- Place the banana into the dark basket with the left gripper +- end +- Place the banana into the basket with the right gripper +- Place the dark basket in the center of view with the right gripper +- Place the banana into the dark basket with the right gripper +- Pick up the dark basket with the left gripper +- Pick up the basket with the right gripper +- Pick up the basket with the left gripper +- Pick up the dark basket with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "RMC-AIDA-L_basket_storage_banana_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 59 + dataset_name: basket_storage_banana + dataset_uuid: 95db1bea-22a4-4ba9-9097-ef3711a084d0 + device_model: Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/basket_storage_banana/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_basket_storage_banana + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: basket_storage_banana + dataset_uuid: null + task_descriptions: + - the left gripper pick up the yellow basket and place it horizontally in the + middle of the table the right gripper pick up the banana and place it into the + yellow basket. + - the left gripper pick up the black basket and place it horizontally in the middle + of the table, the right gripper pick up the banana and place it into the black + basket. + - the right gripper pick up the black basket and place it horizontally in the + middle of the table, the left gripper pick up the banana and place it into the + black basket. + - the right gripper pick up the yellow basket and place it horizontally in the + middle of the table, the left gripper pick up the banana and place it into the + yellow basket. + scene_type: + - home + - kitchen + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + - object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - realman rmc-aida-l + end_effector_type: two_finger_gripper + meta: + robot_type: realman_rmc_aidal + codebase_version: v2.1 + statistics: + total_episodes: 654 + total_frames: 306335 + total_tasks: 4 + total_videos: 1962 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:653 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_basket_storage_egg_yolk_pastry.yaml b/dataset_info/RMC-AIDA-L_basket_storage_egg_yolk_pastry.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7a86932e3f989ca5d59979558991f3b649dda130 --- /dev/null +++ b/dataset_info/RMC-AIDA-L_basket_storage_egg_yolk_pastry.yaml @@ -0,0 +1,931 @@ +dataset_name: basket_storage_egg_yolk_pastry +dataset_uuid: 928d5a84-eae7-4fae-b272-9356c151aa6d +scene_type: +- home +- kitchen +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +- object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null +path: RMC-AIDA-L_basket_storage_egg_yolk_pastry +video_url: ./assets/videos/RMC-AIDA-L_basket_storage_egg_yolk_pastry.mp4 +thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_basket_storage_egg_yolk_pastry.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 3.5GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: realman_rmc_aidal +codebase_version: v2.1 +statistics: + total_episodes: 727 + total_frames: 295062 + total_tasks: 4 + total_videos: 2181 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:726 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'the left gripper pick up the black basket and place it horizontally in the + middle of the table, the right gripper pick up the egg yolk pastry and place it + into the black basket. + + the right gripper pick up the black basket and place it horizontally in the middle + of the table, the left gripper pick up the egg yolk pastry and place it into the + black basket. + + the left gripper pick up the yellow basket and place it horizontally in the middle + of the table, the right gripper pick up the egg yolk pastry and place it into the + yellow basket. + + the right gripper pick up the yellow basket and place it horizontally in the middle + of the table, the left gripper pick up the egg yolk pastry and place it into the + yellow basket.' +sub_tasks: +- Place the basket in the center of view with left gripper +- Place the egg yolk pastry in the basket with right gripper +- Move the basket to the center of view with the right gripper +- Move the basket to the center of view with the left gripper +- Pick up the egg yolk pastry with the right gripper +- Place the basket in the center of view with right gripper +- Pick up the basket with the left gripper +- Place the basket in the center of view with the left gripper +- Grasp egg yolk pastry with left gripper +- Place the egg yolk pastry into the basket with the right gripper +- Grasp the basket with right gripper +- End +- Grasp egg yolk pastry with right gripper +- Place the egg yolk pastry in the basket with left gripper +- Grasp the basket with left gripper +- Place the egg yolk pastry into the basket with the left gripper +- Pick up the egg yolk pastry with the left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "RMC-AIDA-L_basket_storage_egg_yolk_pastry_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 45 + dataset_name: basket_storage_egg_yolk_pastry + dataset_uuid: 928d5a84-eae7-4fae-b272-9356c151aa6d + device_model: Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/basket_storage_egg_yolk_pastry/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_basket_storage_egg_yolk_pastry + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: basket_storage_egg_yolk_pastry + dataset_uuid: null + task_descriptions: + - the left gripper pick up the black basket and place it horizontally in the middle + of the table, the right gripper pick up the egg yolk pastry and place it into + the black basket. + - the left gripper pick up the yellow basket and place it horizontally in the + middle of the table, the right gripper pick up the egg yolk pastry and place + it into the yellow basket. + - the right gripper pick up the black basket and place it horizontally in the + middle of the table, the left gripper pick up the egg yolk pastry and place + it into the black basket. + - the right gripper pick up the yellow basket and place it horizontally in the + middle of the table, the left gripper pick up the egg yolk pastry and place + it into the yellow basket. + scene_type: + - home + - kitchen + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + - object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - realman_rmc_aidal + end_effector_type: two_finger_gripper + meta: + robot_type: realman_rmc_aidal + codebase_version: v2.1 + statistics: + total_episodes: 727 + total_frames: 295062 + total_tasks: 4 + total_videos: 2181 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:726 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_basket_storage_long_bread.yaml b/dataset_info/RMC-AIDA-L_basket_storage_long_bread.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4a8ed28e9466ae8500fcb41f220a919986ff694d --- /dev/null +++ b/dataset_info/RMC-AIDA-L_basket_storage_long_bread.yaml @@ -0,0 +1,952 @@ +dataset_name: basket_storage_long_bread +dataset_uuid: 2a54716c-882f-4e89-a882-50b8c7b5b821 +scene_type: +- home +- kitchen +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +path: RMC-AIDA-L_basket_storage_long_bread +video_url: ./assets/videos/RMC-AIDA-L_basket_storage_long_bread.mp4 +thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_basket_storage_long_bread.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 3.9GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: realman_rmc_aidal +codebase_version: v2.1 +statistics: + total_episodes: 753 + total_frames: 343253 + total_tasks: 6 + total_videos: 2259 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:752 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'the left gripper pick up the basket to the appropriate position, the right + gripper pick up the long bread and place it into the basket. + + the right gripper pick up the basket to the appropriate position, the left gripper + pick up the long bread and place it into the basket. + + the left gripper pick up the black basket and place it horizontally in the middle + of the table, the right gripper pick up the long bread and place it into the black + basket. + + the right gripper pick up the black basket and place it horizontally in the middle + of the table, the left gripper pick up the long bread and place it into the black + basket. + + the left gripper pick up the yellow basket and place it horizontally in the middle + of the table, the right gripper pick up the long bread and place it into the yellow + basket. + + the right gripper pick up the yellow basket and place it horizontally in the middle + of the table, the left gripper pick up the long bread and place it into the yellow + basket.' +sub_tasks: +- Place the long bread into the basket with the left gripper +- Place the long bread into the dark basket with the right gripper +- Place the light basket in the center of view with the left gripper +- Place the long bread into the light basket with the right gripper +- Place the basket in the center of the table with the left gripper +- Pick up the basket with the left gripper +- Grasp the long bread with right gripper +- Place the long bread into the light basket with the left gripper +- Place the basket in the center of view with the left gripper +- Pick up the light basket with the left gripper +- Place the long bread into the dark basket with the left gripper +- Place the light basket in the center of view with the right gripper +- Place the dark basket in the center of view with the right gripper +- Abnormal +- Move the light basket to the center of view with the left gripper +- Pick up the basket with the right gripper +- Place the basket in the center of view with the right gripper +- Place the long bread in the basket with right gripper +- End +- Place the dark basket in the center of view with the left gripper +- Pick up the light basket with the right gripper +- Place the long bread into the basket with the right gripper +- Grasp the basket with the left gripper +- Static +- Pick up the long bread with the right gripper +- Pick up the dark basket with the left gripper +- Pick up the long bread with the left gripper +- Pick up the dark basket with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "RMC-AIDA-L_basket_storage_long_bread_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 43 + dataset_name: basket_storage_long_bread + dataset_uuid: 2a54716c-882f-4e89-a882-50b8c7b5b821 + device_model: Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/basket_storage_long_bread/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_basket_storage_long_bread + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: basket_storage_long_bread + dataset_uuid: null + task_descriptions: + - the left gripper pick up the basket to the appropriate position, the right + gripper pick up the long bread and place it into the basket. + - the left gripper pick up the black basket and place it horizontally in the middle + of the table, the right gripper pick up the long bread and place it into the + black basket. + - the left gripper pick up the yellow basket and place it horizontally in the + middle of the table, the right gripper pick up the long bread and place it into + the yellow basket. + - the right gripper pick up the basket to the appropriate position, the left + gripper pick up the long bread and place it into the basket. + - the right gripper pick up the black basket and place it horizontally in the + middle of the table, the left gripper pick up the long bread and place it into + the black basket. + - the right gripper pick up the yellow basket and place it horizontally in the + middle of the table, the left gripper pick up the long bread and place it into + the yellow basket. + scene_type: + - home + - kitchen + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - realman_rmc_aidal + end_effector_type: two_finger_gripper + meta: + robot_type: realman_rmc_aidal + codebase_version: v2.1 + statistics: + total_episodes: 753 + total_frames: 343253 + total_tasks: 6 + total_videos: 2259 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:752 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_basket_storage_orange.yaml b/dataset_info/RMC-AIDA-L_basket_storage_orange.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8b48c4c9a2b54c8a9f84a58c05c74a55ff6c8763 --- /dev/null +++ b/dataset_info/RMC-AIDA-L_basket_storage_orange.yaml @@ -0,0 +1,929 @@ +dataset_name: basket_storage_orange +dataset_uuid: f96c79dc-15ee-43ed-8c21-1e898a816ee6 +scene_type: +- home +- kitchen +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +- object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null +path: RMC-AIDA-L_basket_storage_orange +video_url: ./assets/videos/RMC-AIDA-L_basket_storage_orange.mp4 +thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_basket_storage_orange.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 1.1GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: realman_rmc_aidal +codebase_version: v2.1 +statistics: + total_episodes: 356 + total_frames: 112423 + total_tasks: 4 + total_videos: 1068 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:355 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'the left gripper pick up the black basket and place it horizontally in the + middle of the table, the right gripper pick up the orange and place it into the + black basket. + + the left gripper pick up the yellow basket and place it horizontally in the middle + of the table, the right gripper pick up the orange and place it into the yellow + basket. + + the right gripper pick up the black basket and place it horizontally in the middle + of the table, the left gripper pick up the orange and place it into the black basket. + + the right gripper pick up the yellow basket and place it horizontally in the middle + of the table, the left gripper pick up the orange and place it into the yellow basket.' +sub_tasks: +- Place the dark basket in the center of view with the right gripper +- Place the light basket in the center of view with the right gripper +- Place the orange into the dark basket with the left gripper +- Place the dark basket in the center of view with the left gripper +- end +- Place the orange into the light basket with the left gripper +- Pick up the light basket with the right gripper +- Place the orange into the light basket with the right gripper +- Pick up the orange with the right gripper +- Place the light basket in the center of view with the left gripper +- Pick up the dark basket with the left gripper +- Pick up the light basket with the left gripper +- Pick up the dark basket with the right gripper +- Pick up the orange with the left gripper +- Place the orange into the dark basket with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "RMC-AIDA-L_basket_storage_orange_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 46 + dataset_name: basket_storage_orange + dataset_uuid: f96c79dc-15ee-43ed-8c21-1e898a816ee6 + device_model: Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/basket_storage_orange/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_basket_storage_orange + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: basket_storage_orange + dataset_uuid: null + task_descriptions: + - the left gripper pick up the basket to the appropriate position, the right + gripper pick up the orange and place it into the basket. + - the left gripper pick up the black basket and place it horizontally in the middle + of the table, the right gripper pick up the orange and place it into the black + basket. + - the left gripper pick up the yellow basket and place it horizontally in the + middle of the table, the right gripper pick up the orange and place it into + the yellow basket. + - the right gripper pick up the black basket and place it horizontally in the + middle of the table, the left gripper pick up the orange and place it into the + black basket. + - the right gripper pick up the yellow basket and place it horizontally in the + middle of the table, the left gripper pick up the orange and place it into the + yellow basket. + scene_type: + - home + - kitchen + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + - object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - realman rmc-aida-l + end_effector_type: two_finger_gripper + meta: + robot_type: realman_rmc_aidal + codebase_version: v2.1 + statistics: + total_episodes: 356 + total_frames: 112423 + total_tasks: 4 + total_videos: 1068 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:355 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_basket_storage_peach.yaml b/dataset_info/RMC-AIDA-L_basket_storage_peach.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5c6f6ca0c5654a337d85b091c374e151696f938b --- /dev/null +++ b/dataset_info/RMC-AIDA-L_basket_storage_peach.yaml @@ -0,0 +1,965 @@ +dataset_name: basket_storage_peach +dataset_uuid: 88e35314-80f0-4a2b-a92e-5b0e769483ae +scene_type: +- home +- kitchen +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: basket + level1: home_storage + level2: basket + level3: null + level4: null + level5: null +- object_name: peach + level1: fruits + level2: peach + level3: null + level4: null + level5: null +path: RMC-AIDA-L_basket_storage_peach +video_url: ./assets/videos/RMC-AIDA-L_basket_storage_peach.mp4 +thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_basket_storage_peach.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 3.6GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: realman_rmc_aidal +codebase_version: v2.1 +statistics: + total_episodes: 721 + total_frames: 308398 + total_tasks: 5 + total_videos: 2163 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:720 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'the left gripper pick up the basket to the appropriate position, the right + gripper pick up the peach and place it into the basket. + + the left gripper pick up the black basket and place it horizontally in the middle + of the table, the right gripper pick up the peach and place it into the black basket. + + the right gripper pick up the black basket and place it horizontally in the middle + of the table, the left gripper pick up the peach and place it into the black basket. + + the left gripper pick up the yellow basket and place it horizontally in the middle + of the table, the right gripper pick up the peach and place it into the yellow basket. + + the right gripper pick up the yellow basket and place it horizontally in the middle + of the table, the left gripper pick up the peach and place it into the yellow basket.' +sub_tasks: +- Place the basket in the center of view with the left gripper +- Place the dark basket in the center of view with the right gripper +- Pick up the basket with the left gripper +- Grasp the peach with left gripper +- Move the basket to the center of view with the left gripper +- Pick up the dark basket with the right gripper +- Pick up the dark basket with the left gripper +- Pick up the peach with the left gripper +- Place the peach in the dark basket with right gripper +- Place the peach in the dark basket with left gripper +- Pick up the light basket with the right gripper +- Grasp the basket with right gripper +- Put the peach into the basket +- Grasp the basket with left gripper +- Put the basket in the middle +- Grab the basket with your left arm +- Pick up the peach with the right gripper +- End +- Place the basket in the center of view with left gripper +- Place the light basket in the center of view with the right gripper +- abnormal +- Place the basket in the center of view with right gripper +- Grab the peach with your right arm +- Pick up the light basket with the left gripper +- Grasp the peach with right gripper +- Place the peach into the basket with the right gripper +- Place the peach into the basket with the left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "RMC-AIDA-L_basket_storage_peach_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 1 + dataset_name: basket_storage_peach + dataset_uuid: 88e35314-80f0-4a2b-a92e-5b0e769483ae + device_model: Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/basket_storage_peach/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_basket_storage_peach + scene_types: + - home + - kitchen + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: basket + level1: home_storage + level2: basket + level3: null + level4: null + level5: null + - object_name: peach + level1: fruits + level2: peach + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: basket_storage_peach + dataset_uuid: null + task_descriptions: + - the left gripper pick up the basket to the appropriate position, the right + gripper pick up the peach and place it into the basket. + - the left gripper pick up the black basket and place it horizontally in the middle + of the table, the right gripper pick up the peach and place it into the black + basket. + - the left gripper pick up the yellow basket and place it horizontally in the + middle of the table, the right gripper pick up the peach and place it into the + yellow basket. + - the right gripper pick up the black basket and place it horizontally in the + middle of the table, the left gripper pick up the peach and place it into the + black basket. + - the right gripper pick up the yellow basket and place it horizontally in the + middle of the table, the left gripper pick up the peach and place it into the + yellow basket. + scene_type: + - home + - kitchen + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + - object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - realman_rmc_aidal + end_effector_type: two_finger_gripper + meta: + robot_type: realman_rmc_aidal + codebase_version: v2.1 + statistics: + total_episodes: 721 + total_frames: 308398 + total_tasks: 5 + total_videos: 2163 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:720 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_box_up_down.yaml b/dataset_info/RMC-AIDA-L_box_up_down.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c7662ad2d06ba8a3a7b8002e5046320e267233f4 --- /dev/null +++ b/dataset_info/RMC-AIDA-L_box_up_down.yaml @@ -0,0 +1,902 @@ +dataset_name: box_up_down +dataset_uuid: e095217a-10c3-44e6-9a26-08a1758a1243 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null +path: RMC-AIDA-L_box_up_down +video_url: ./assets/videos/RMC-AIDA-L_box_up_down.mp4 +thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_box_up_down.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 383.7MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: realman_rmc_aidal +codebase_version: v2.1 +statistics: + total_episodes: 159 + total_frames: 31466 + total_tasks: 2 + total_videos: 477 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:158 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'pick up the box from the table with both arms. + + place the box on the table with both arms.' +sub_tasks: +- Grasp the bandage with right gripper +- Loosen the box on the table with right gripper +- Place the box on the table with right gripper +- Lift the box with left gripper +- Place the box on the table with left gripper +- Static +- End +- Loosen the box on the table with left gripper +- Lift the box with right gripper +- Grasp the bandage with left gripper +- Abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "RMC-AIDA-L_box_up_down_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 55 + dataset_name: box_up_down + dataset_uuid: e095217a-10c3-44e6-9a26-08a1758a1243 + device_model: Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/box_up_down/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_box_up_down + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: box_up_down + dataset_uuid: null + task_descriptions: + - place the box on the table with both arms. + - pick up the box from the table with both arms. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - realman_rmc_aidal + end_effector_type: two_finger_gripper + meta: + robot_type: realman_rmc_aidal + codebase_version: v2.1 + statistics: + total_episodes: 159 + total_frames: 31466 + total_tasks: 2 + total_videos: 477 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:158 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_clean_table.yaml b/dataset_info/RMC-AIDA-L_clean_table.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fb4efe5d8ddcaf4e4229d923da7a13e89d2796bb --- /dev/null +++ b/dataset_info/RMC-AIDA-L_clean_table.yaml @@ -0,0 +1,939 @@ +dataset_name: clean_table +dataset_uuid: ed026bcf-f342-4259-9fce-12208d2ca5b3 +scene_type: +- home +- restaurant +atomic_actions: +- grasp +- pick +- place +- wipe +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null +- object_name: blue_rag + level1: clothing + level2: blue_rag + level3: null + level4: null + level5: null +- object_name: pruple_rag + level1: clothing + level2: pruple_rag + level3: null + level4: null + level5: null +- object_name: water + level1: drink + level2: water + level3: null + level4: null + level5: null +path: RMC-AIDA-L_clean_table +video_url: ./assets/videos/RMC-AIDA-L_clean_table.mp4 +thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_clean_table.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 3.5GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: realman_rmc_aidal +codebase_version: v2.1 +statistics: + total_episodes: 776 + total_frames: 514178 + total_tasks: 4 + total_videos: 2328 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:775 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'wipe off the black water stains in the middle of the table with a blue rag. + + wipe off the brown water stains in the middle of the table with a blue rag. + + wipe off the black water stains in the middle of the table with a pruple rag. + + wipe off the brown water stains in the middle of the table with a pruple rag.' +sub_tasks: +- Place the rag on the table with the right gripper +- Stand the paper cup upright with the left gripper +- Grasp the paper cup with the left gripper +- Grasp the paper cup with the right gripper +- Grasp the rag with the left gripper +- Grasp the rag with the right gripper +- Wipe the stains off the table with the left gripper +- Place the rag on the table with the left gripper +- Stand the paper cup upright with the right gripper +- end +- Wipe the stains off the table with the right gripper +- abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "RMC-AIDA-L_clean_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 52 + dataset_name: clean_table + dataset_uuid: ed026bcf-f342-4259-9fce-12208d2ca5b3 + device_model: Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/wipe_table/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_clean_table + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: clean_table + dataset_uuid: null + task_descriptions: + - place the paper cup properly and then wipe off the black water stain in the + middle of the table with a blue towel. + - place the paper cup properly and then wipe off the brown water stain in the + middle of the table with a blue towel. + - place the paper cup properly and then wipe off the black water stain in the + middle of the table with a purple towel. + - place the paper cup properly and then wipe off the brown water stain in the + middle of the table with a purple towel. + scene_type: + - home + - restaurant + atomic_actions: + - grasp + - pick + - place + - wipe + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null + - object_name: blue_rag + level1: clothing + level2: blue_rag + level3: null + level4: null + level5: null + - object_name: pruple_rag + level1: clothing + level2: pruple_rag + level3: null + level4: null + level5: null + - object_name: water + level1: drink + level2: water + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - realman rmc-aida-l + end_effector_type: two_finger_gripper + meta: + robot_type: realman_rmc_aidal + codebase_version: v2.1 + statistics: + total_episodes: 776 + total_frames: 514178 + total_tasks: 4 + total_videos: 2328 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:775 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_desktop_organization.yaml b/dataset_info/RMC-AIDA-L_desktop_organization.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6e4f87b8c33d80be4a7ca7881d69ef58bb970180 --- /dev/null +++ b/dataset_info/RMC-AIDA-L_desktop_organization.yaml @@ -0,0 +1,1115 @@ +dataset_name: desktop_organization +dataset_uuid: 66922d94-1a12-4281-bddf-1da6a26caf4c +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null +- object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null +- object_name: fruit_plate + level1: container + level2: fruit_plate + level3: null + level4: null + level5: null +- object_name: paper_ball + level1: garbage + level2: paper_ball + level3: null + level4: null + level5: null +- object_name: plastic + level1: garbage + level2: plastic + level3: null + level4: null + level5: null +- object_name: trash_can + level1: container + level2: trash_can + level3: null + level4: null + level5: null +- object_name: bottle + level1: container + level2: bottle + level3: null + level4: null + level5: null +- object_name: art_knife + level1: office_supplies + level2: art_knife + level3: null + level4: null + level5: null +- object_name: glue + level1: office_supplies + level2: glue + level3: null + level4: null + level5: null +- object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null +- object_name: ruler + level1: office_supplies + level2: ruler + level3: null + level4: null + level5: null +- object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null +- object_name: scissor + level1: office_supplies + level2: scissor + level3: null + level4: null + level5: null +- object_name: pen_holder + level1: container + level2: pen_holder + level3: null + level4: null + level5: null +path: RMC-AIDA-L_desktop_organization +video_url: ./assets/videos/RMC-AIDA-L_desktop_organization.mp4 +thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_desktop_organization.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1M-10M +dataset_size: 38.7GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: realman_rmc_aidal +codebase_version: v2.1 +statistics: + total_episodes: 1660 + total_frames: 2647489 + total_tasks: 2 + total_videos: 4980 + total_chunks: 2 + chunks_size: 1000 + fps: 30 +splits: + train: 0:1659 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'put the orange in the fruit plate, put the paper ball in the trash can, stand + the bottle upright, put the art knife in the pen holder, put the glue in the pen + holder, and put the eraser in the pen holder. + + put the peach in the fruit plate, put the plastic in the trash can, stand the bottle + upright, put the ruler in the pen holder, put the pen in the pen holder, and put + the scissor in the pen holder.' +sub_tasks: +- Place the blue scissors into the pen holder with the right hand. +- Grab the orange with the left hand. +- Place the blue scissors into the pen holder with the left hand. +- Pass the ruler from the right hand to the left hand. +- Place the gray spring-action pen into the pen holder with the left hand. +- Pass the blue utility knife from the left hand to the right hand. +- Put the eraser into the pen holder with the right hand. +- Grab the blue scissors with the right hand. +- Grab the blue utility knife with the left hand. +- Place the orange into the fruit bowl with the right hand. +- Grab the plastic with the right hand. +- Discard. +- Pass the water bottle from the left hand to the right hand. +- Pass the ruler from the left hand to the right hand. +- Place the gray spring-action pen into the pen holder with the right hand. +- Pass the water bottle from the right hand to the left hand. +- Place the eraser into the pen holder with the left hand. +- Grab the blue scissors with the left hand. +- Grab the ruler with the left hand. +- Grab the eraser with the right hand. +- Pass the peach from the right hand to the left hand. +- Pass the blue scissors from the right hand to the left hand. +- Pass the gray spring-action pen from the left hand to the right hand. +- Pass the eraser from the left hand to the right hand. +- Place the blue utility knife into the pen holder with the right hand. +- Place the blue utility knife into the pen holder with the left hand. +- Place the ruler into the pen holder with the left hand. +- Grab the orange with the right hand. +- Grab the plastic with the left hand. +- Grab the peach with the right hand. +- Place the paper ball into the trash can with the right hand. +- Place the orange into the fruit bowl with the left hand. +- Grab the gray glue with the right hand. +- Pass the plastic from the right hand to the left hand. +- Grab the water bottle with the left hand. +- Pass the gray glue from the left hand to the right hand. +- Pass the paper ball from the left hand to the right hand. +- Pass the plastic from the left hand to the right hand. +- Grab the blue utility knife with the right hand. +- Pass the orange from the right hand to the left hand. +- Grab the paper ball with the left hand. +- Pass the blue scissors from the left hand to the right hand. +- Place the ruler into the pen holder with the right hand. +- Place the peach into the fruit bowl with the right hand. +- Place the water bottle on the table with the left hand. +- Grab the eraser with the left hand. +- Pass the gray glue from the right hand to the left hand. +- Grab the gray spring-action pen with the left hand. +- Pass the blue utility knife from the right hand to the left hand. +- Place the peach into the fruit bowl with the left hand. +- Grab the gray spring-action pen with the right hand. +- Grab the gray glue with the left hand. +- Place the water bottle on the table with the right hand. +- Grab the ruler with the right hand. +- Grab the water bottle with the right hand. +- Place the gray glue into the pen holder with the right hand. +- Grab the peach with the left hand. +- Place the plastic into the trash can with the right hand. +- Pass the gray spring-action pen from the right hand to the left hand. +- Place the gray glue into the pen holder with the left hand. +- Grab the paper ball with the right hand. +- end +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "RMC-AIDA-L_desktop_organization_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n\ + │ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ \ + \ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n\ + │ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ \ + \ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├──\ + \ episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n\ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ + \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ + \ episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ + \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ + \ episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ + \ episode_001004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 49 + dataset_name: desktop_organization + dataset_uuid: 66922d94-1a12-4281-bddf-1da6a26caf4c + device_model: Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/desktop_storage/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_desktop_organization + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: desktop_organization + dataset_uuid: null + task_descriptions: + - put the orange in the fruit plate, put the paper ball in the trash can, stand + the bottle upright, put the art knife in the pen holder, put the glue in the + pen holder, and put the eraser in the pen holder. + - put the peach in the fruit plate, put the plastic in the trash can, stand the + bottle upright, put the ruler in the pen holder, put the pen in the pen holder, + and put the scissor in the pen holder. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null + - object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null + - object_name: fruit_plate + level1: container + level2: fruit_plate + level3: null + level4: null + level5: null + - object_name: paper_ball + level1: garbage + level2: paper_ball + level3: null + level4: null + level5: null + - object_name: plastic + level1: garbage + level2: plastic + level3: null + level4: null + level5: null + - object_name: trash_can + level1: container + level2: trash_can + level3: null + level4: null + level5: null + - object_name: bottle + level1: container + level2: bottle + level3: null + level4: null + level5: null + - object_name: art_knife + level1: office_supplies + level2: art_knife + level3: null + level4: null + level5: null + - object_name: glue + level1: office_supplies + level2: glue + level3: null + level4: null + level5: null + - object_name: eraser + level1: office_supplies + level2: eraser + level3: null + level4: null + level5: null + - object_name: ruler + level1: office_supplies + level2: ruler + level3: null + level4: null + level5: null + - object_name: pen + level1: office_supplies + level2: pen + level3: null + level4: null + level5: null + - object_name: scissor + level1: office_supplies + level2: scissor + level3: null + level4: null + level5: null + - object_name: pen_holder + level1: container + level2: pen_holder + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - realman rmc-aida-l + end_effector_type: two_finger_gripper + meta: + robot_type: realman_rmc_aidal + codebase_version: v2.1 + statistics: + total_episodes: 1660 + total_frames: 2647489 + total_tasks: 2 + total_videos: 4980 + total_chunks: 2 + chunks_size: 1000 + fps: 30 + splits: + train: 0:1659 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_fold_shirt.yaml b/dataset_info/RMC-AIDA-L_fold_shirt.yaml new file mode 100644 index 0000000000000000000000000000000000000000..37b36f30a7ca42f9654d758b182434e9d8fec1be --- /dev/null +++ b/dataset_info/RMC-AIDA-L_fold_shirt.yaml @@ -0,0 +1,950 @@ +dataset_name: fold_shirt +dataset_uuid: bbe55f1a-041d-4956-b4a9-17c9457510aa +scene_type: +- home +atomic_actions: +- grasp +- pick +- fold +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: shirt + level1: clothing + level2: shirt + level3: null + level4: null + level5: null +path: RMC-AIDA-L_fold_shirt +video_url: ./assets/videos/RMC-AIDA-L_fold_shirt.mp4 +thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_fold_shirt.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1M-10M +dataset_size: 29.7GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: realman_rmc_aidal +codebase_version: v2.1 +statistics: + total_episodes: 1487 + total_frames: 3512125 + total_tasks: 6 + total_videos: 4461 + total_chunks: 2 + chunks_size: 1000 + fps: 30 +splits: + train: 0:1486 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'the black shirt is place with the back facing up, fold the black shirt into + a square shape. + + the black shirt is place with the front facing upwards, fold the black shirt into + a square shape. + + the blue shirt is place with the back facing up, fold the black shirt into a square + shape. + + the blue shirt is place with the front facing upwards, fold the black shirt into + a square shape. + + the navygreen shirt is place with the front facing upwards, fold the black shirt + into a square shape. + + the navygreen shirt is place with the back facing up, fold the black shirt into + a square shape.' +sub_tasks: +- Fold the lower left sleeve with the left hand. +- Fold the lower left sleeve to the left. +- Fold the clothes with the right hand. +- Fold the clothes to the right. +- Press the middle of the clothes with the right hand. +- Pull the clothes with the right hand. +- Discard. +- Grab the upper right corner of the clothes with the right hand. +- Grab the lower left corner of the clothes with the left hand. +- Fold the lower right sleeve to the right. +- Pull the clothes to the left. +- Pull the clothes with the left hand. +- Fold the clothes with the left hand. +- Push the clothes to the left. +- Grab the upper left corner of the clothes with the left hand. +- Pull the clothes to the right. +- Grab the lower right corner of the clothes with the right hand. +- Fold the lower right sleeve with the right hand. +- end +- Fold the clothes to the left. +- Push the clothes with the left hand. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "RMC-AIDA-L_fold_shirt_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n\ + │ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ \ + \ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n\ + │ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n\ + │ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ \ + \ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├──\ + \ episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n\ + \ │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ \ + \ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │\ + \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ + \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ + \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ + \ episode_001004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 44 + dataset_name: fold_shirt + dataset_uuid: bbe55f1a-041d-4956-b4a9-17c9457510aa + device_model: Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/fold_shirt/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_fold_shirt + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: fold_shirt + dataset_uuid: null + task_descriptions: + - the black shirt is place with the back facing up, fold the black shirt into + a square shape. + - the black shirt is place with the front facing upwards, fold the black shirt + into a square shape. + - the blue shirt is place with the back facing up, fold the black shirt into a + square shape. + - the blue shirt is place with the front facing upwards, fold the black shirt + into a square shape. + - the navygreen shirt is place with the back facing up, fold the black shirt into + a square shape. + - the navygreen shirt is place with the front facing upwards, fold the black shirt + into a square shape. + scene_type: + - home + atomic_actions: + - grasp + - pick + - fold + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: shirt + level1: clothing + level2: shirt + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - realman_rmc_aidal + end_effector_type: two_finger_gripper + meta: + robot_type: realman_rmc_aidal + codebase_version: v2.1 + statistics: + total_episodes: 1487 + total_frames: 3512125 + total_tasks: 6 + total_videos: 4461 + total_chunks: 2 + chunks_size: 1000 + fps: 30 + splits: + train: 0:1486 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_fold_shorts.yaml b/dataset_info/RMC-AIDA-L_fold_shorts.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5bce548819967c5f9eab65986dc118086beff1d1 --- /dev/null +++ b/dataset_info/RMC-AIDA-L_fold_shorts.yaml @@ -0,0 +1,929 @@ +dataset_name: fold_shorts +dataset_uuid: 5f973d3e-d7a6-40c1-8ecc-0a4a158505f7 +scene_type: +- home +atomic_actions: +- grasp +- pick +- fold +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: shorts + level1: clothing + level2: shorts + level3: null + level4: null + level5: null +path: RMC-AIDA-L_fold_shorts +video_url: ./assets/videos/RMC-AIDA-L_fold_shorts.mp4 +thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_fold_shorts.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 9.5GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: realman_rmc_aidal +codebase_version: v2.1 +statistics: + total_episodes: 866 + total_frames: 730046 + total_tasks: 4 + total_videos: 2598 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:865 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'the shorts is place with the front facing upwards, the left gripper grasp + the waist of the shorts, and the right gripper grasp the bottom of the shorts and + folds them in the middle. + + the shorts is place with the back facing up, the left gripper grasp the waist of + the shorts, and the right gripper grasp the bottom of the shorts and folds them + in the middle. + + the shorts is place with the front facing upwards, the right gripper grasp the waist + of the shorts, and the left gripper grasp the bottom of the shorts and folds them + in the middle. + + the shorts is place with the back facing up, the right gripper grasp the waist of + the shorts, and the left gripper grasp the bottom of the shorts and folds them in + the middle.' +sub_tasks: +- Grab the lower left pant leg with your left hand. +- Grab the lower right pant leg with your right hand. +- Fold the bottom of the shorts upward with right gripper +- Fold the pants from right to left with the right gripper +- Hold the waistband with your left hand. +- Hold the lower right waistband with your right hand. +- Grab the waistband with your right hand. +- Fold to the right with your left hand. +- Press the middle of the pants with your left hand. +- Fold upward with your left hand. +- Fold to the left with your right hand. +- Hold the lower left waistband with your left hand. +- Place the folded trousers onto the center area with the right grippers +- Place the folded trousers onto the center area with right gripper +- Place the folded trousers onto the center area with the left grippers +- Grasp the right lower side of the waistband of the shorts with right gripper +- end +- Anomaly detected. +- Grasp the lower left leg of the shorts with left gripper +- Fold the shorts from right to left with right gripper +- abnormal +- Fold the pants from left to right with the left gripper +- Fold the bottom of the shorts upward with left gripper +- Fold the bottom of the pants upward with both grippers +- Adjust the pants with your right hand. +- Fold upward with your right hand. +- Adjust the pants with your left hand. +- Press the middle of the pants with your right hand. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "RMC-AIDA-L_fold_shorts_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 58 + dataset_name: fold_shorts + dataset_uuid: 5f973d3e-d7a6-40c1-8ecc-0a4a158505f7 + device_model: Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/fold_shorts/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_fold_shorts + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: fold_shorts + dataset_uuid: null + task_descriptions: + - the shorts is place with the back facing up, the left gripper grasp the waist + of the shorts, and the right gripper grasp the bottom of the shorts and folds + them in the middle. + - the shorts is place with the front facing upwards, the left gripper grasp the + waist of the shorts, and the right gripper grasp the bottom of the shorts and + folds them in the middle. + - the shorts is place with the back facing up, the right gripper grasp the waist + of the shorts, and the left gripper grasp the bottom of the shorts and folds + them in the middle. + - the shorts is place with the front facing upwards, the right gripper grasp the + waist of the shorts, and the left gripper grasp the bottom of the shorts and + folds them in the middle. + scene_type: + - home + atomic_actions: + - grasp + - pick + - fold + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: shorts + level1: clothing + level2: shorts + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - realman rmc-aida-l + end_effector_type: two_finger_gripper + meta: + robot_type: realman_rmc_aidal + codebase_version: v2.1 + statistics: + total_episodes: 866 + total_frames: 730046 + total_tasks: 4 + total_videos: 2598 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:865 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_fold_towel.yaml b/dataset_info/RMC-AIDA-L_fold_towel.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e759eff1a8ddf320fe0d1484f380064b64af5cc2 --- /dev/null +++ b/dataset_info/RMC-AIDA-L_fold_towel.yaml @@ -0,0 +1,886 @@ +dataset_name: fold_towel +dataset_uuid: 189eaf6e-2609-4e71-8e6e-e6393a5d259e +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +- unfold +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null +path: RMC-AIDA-L_fold_towel +video_url: ./assets/videos/RMC-AIDA-L_fold_towel.mp4 +thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_fold_towel.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 1.5GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: realman_rmc_aidal +codebase_version: v2.1 +statistics: + total_episodes: 314 + total_frames: 139069 + total_tasks: 2 + total_videos: 942 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:313 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'take out a white towel and unfold it. + + take out a black towel and unfold it.' +sub_tasks: +- End +- Press and secure one corner of the towel with the right arm +- Unfold the towel with the left arm +- Press and secure one corner of the towel with the left arm +- Press and secure one corner of the towel with the right gripper +- Unfold the towel with the left gripper +- Unfold the towel with the right arm +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "RMC-AIDA-L_fold_towel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 57 + dataset_name: fold_towel + dataset_uuid: 189eaf6e-2609-4e71-8e6e-e6393a5d259e + device_model: Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/unfold_towel/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_fold_towel + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: fold_towel + dataset_uuid: null + task_descriptions: + - take out a white towel and unfold it. + - take out a green towel and unfold it. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + - unfold + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - realman rmc-aida-l + end_effector_type: two_finger_gripper + meta: + robot_type: realman_rmc_aidal + codebase_version: v2.1 + statistics: + total_episodes: 314 + total_frames: 139069 + total_tasks: 2 + total_videos: 942 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:313 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_food_packaging.yaml b/dataset_info/RMC-AIDA-L_food_packaging.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0368147d601605a7bab93180e7edc154e9b35a23 --- /dev/null +++ b/dataset_info/RMC-AIDA-L_food_packaging.yaml @@ -0,0 +1,966 @@ +dataset_name: food_packaging +dataset_uuid: 59eb8786-4e0e-4c5e-b129-aec36ec1eda9 +scene_type: +- home +- kitchen +atomic_actions: +- grasp +- pick +- place +- pull +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: bag + level1: container + level2: bag + level3: null + level4: null + level5: null +- object_name: lunch_box + level1: container + level2: lunch_box + level3: null + level4: null + level5: null +- object_name: cucumber + level1: vegetable + level2: cucumber + level3: null + level4: null + level5: null +- object_name: pear + level1: fruit + level2: pear + level3: null + level4: null + level5: null +- object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null +- object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null +path: RMC-AIDA-L_food_packaging +video_url: ./assets/videos/RMC-AIDA-L_food_packaging.mp4 +thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_food_packaging.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 9.4GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: realman_rmc_aidal +codebase_version: v2.1 +statistics: + total_episodes: 497 + total_frames: 817652 + total_tasks: 2 + total_videos: 1491 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:496 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'the left gripper pick up the blue bag, the right gripper successively pick + up the lunch box, cucumber and pear and place them into the bag, the right gripper + zip up the bag. + + the left gripper pick up the blue bag, the right gripper successively pick up the + lunch box, bananna and peach and place them into the bag, the right gripper zip + up the bag.' +sub_tasks: +- Grab the pear with your right hand. +- Pick up the lunch box with your right hand. +- end +- Put the cucumber into the lunch bag with your right hand. +- Hold the lunch bag with your left hand. +- Secure the lunch bag with your left hand. +- Pick up the cucumber with your right hand. +- Hold the lunch bag with your right hand. +- Take the banana with your right hand. +- Place the lunch box into the lunch bag with your right hand. +- Place the peach into the lunch bag with your right hand. +- Zip up the lunch bag with your right hand. +- Put the banana into the lunch bag with your right hand. +- Place the pear into the lunch bag with your right hand. +- Grab the peach with your right hand. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "RMC-AIDA-L_food_packaging_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 54 + dataset_name: food_packaging + dataset_uuid: 59eb8786-4e0e-4c5e-b129-aec36ec1eda9 + device_model: Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/food_packaging/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_food_packaging + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: food_packaging + dataset_uuid: null + task_descriptions: + - the left gripper pick up the blue bag, the right gripper pick up the lunch box + from the table and placed it in the bag, the right gripper pick up the cucumber + from the table and placed it in the bag,the right gripper pick up the pear from + the table and placed it in the bag, the right gripper zip up the bag. + - the left gripper pick up the blue bag, the right gripper pick up the lunch box + from the table and placed it in the bag, the right gripper pick up the banana + from the table and placed it in the bag,the right gripper pick up the peach + from the table and placed it in the bag, the right gripper zip up the bag. + scene_type: + - home + - kitchen + atomic_actions: + - grasp + - pick + - place + - pull + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: bag + level1: container + level2: bag + level3: null + level4: null + level5: null + - object_name: lunch_box + level1: container + level2: lunch_box + level3: null + level4: null + level5: null + - object_name: cucumber + level1: vegetable + level2: cucumber + level3: null + level4: null + level5: null + - object_name: pear + level1: fruit + level2: pear + level3: null + level4: null + level5: null + - object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null + - object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - realman rmc-aida-l + end_effector_type: two_finger_gripper + meta: + robot_type: realman_rmc_aidal + codebase_version: v2.1 + statistics: + total_episodes: 497 + total_frames: 817652 + total_tasks: 2 + total_videos: 1491 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:496 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_food_storage.yaml b/dataset_info/RMC-AIDA-L_food_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c4bcc0cb72888a803c514c42ad7e09df63c976f9 --- /dev/null +++ b/dataset_info/RMC-AIDA-L_food_storage.yaml @@ -0,0 +1,971 @@ +dataset_name: food_storage +dataset_uuid: f217b0c1-9f1e-4598-9845-0a85906dadf6 +scene_type: +- home +- kitchen +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: handbag + level1: container + level2: handbag + level3: null + level4: null + level5: null +- object_name: bread + level1: food + level2: bread + level3: null + level4: null + level5: null +- object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null +- object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null +- object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null +path: RMC-AIDA-L_food_storage +video_url: ./assets/videos/RMC-AIDA-L_food_storage.mp4 +thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_food_storage.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 2.5GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: realman_rmc_aidal +codebase_version: v2.1 +statistics: + total_episodes: 499 + total_frames: 274806 + total_tasks: 12 + total_videos: 1497 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:498 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'pick up the bread from the table and place it in the brown handbag. + + pick up the orange from the table and place it in the brown handbag. + + pick up the orange and peach from the table and place it in the brown handbag. + + pick up the peach from the table and place it in the brown handbag. + + pick up the bread and egg yolk pastry from the table and place it in the brown handbag. + + pick up the egg yolk pastry from the table and place it in the brown handbag. + + pick up the bread from the table and place it in the white handbag. + + pick up the orange from the table and place it in the white handbag. + + pick up the orange and peach from the table and place it in the white handbag. + + pick up the peach from the table and place it in the white handbag. + + pick up the bread and egg yolk pastry from the table and place it in the white handbag. + + pick up the egg yolk pastry from the table and place it in the white handbag.' +sub_tasks: +- Lift the woven bag with the left gripper to open it +- Lower the woven bag with the left gripper to close it +- abnormal +- Place the egg yolk pastry into the woven bag with the right gripper +- Place the peach into the woven bag with the right gripper +- Pick up the orange with the right gripper +- Pick up the egg yolk pastry with the right gripper +- Pick up the bread with the right gripper +- end +- Place the bread into the woven bag with the right gripper +- Place the orange into the woven bag with the right gripper +- Pick up the peach with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "RMC-AIDA-L_food_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 41 + dataset_name: food_storage + dataset_uuid: f217b0c1-9f1e-4598-9845-0a85906dadf6 + device_model: Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/food_storage/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_food_storage + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: food_storage + dataset_uuid: null + task_descriptions: + - pick up the bread from the table and place it in the brown handbag. + - pick up the bread and egg yolk pastry from the table and place it in the brown + handbag. + - pick up the egg yolk pastry from the table and place it in the brown handbag. + - pick up the orange from the table and place it in the brown handbag. + - pick up the orange and peach from the table and place it in the brown handbag. + - pick up the peach from the table and place it in the brown handbag. + - pick up the bread from the table and place it in the white handbag. + - pick up the bread and egg yolk pastry from the table and place it in the white + handbag. + - pick up the egg yolk pastry from the table and place it in the white handbag. + - pick up the orange from the table and place it in the white handbag. + - pick up the orange and peach from the table and place it in the white handbag. + - pick up the peach from the table and place it in the white handbag. + scene_type: + - home + - kitchen + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: handbag + level1: container + level2: handbag + level3: null + level4: null + level5: null + - object_name: bread + level1: food + level2: bread + level3: null + level4: null + level5: null + - object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null + - object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null + - object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - realman rmc-aida-l + end_effector_type: two_finger_gripper + meta: + robot_type: realman_rmc_aidal + codebase_version: v2.1 + statistics: + total_episodes: 499 + total_frames: 274806 + total_tasks: 12 + total_videos: 1497 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:498 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_fruit_storage.yaml b/dataset_info/RMC-AIDA-L_fruit_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..09ec15a9d99e68197c2e7540263e3b366a904591 --- /dev/null +++ b/dataset_info/RMC-AIDA-L_fruit_storage.yaml @@ -0,0 +1,937 @@ +dataset_name: fruit_storage +dataset_uuid: 8276223a-988a-4a97-8459-97f7c498cbb5 +scene_type: +- home +- kitchen +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: grape + level1: fruit + level2: grape + level3: null + level4: null + level5: null +- object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +path: RMC-AIDA-L_fruit_storage +video_url: ./assets/videos/RMC-AIDA-L_fruit_storage.mp4 +thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_fruit_storage.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 2.6GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: realman_rmc_aidal +codebase_version: v2.1 +statistics: + total_episodes: 521 + total_frames: 291785 + total_tasks: 2 + total_videos: 1563 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:520 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'the left gripper pick up the bowl from the table, the right gripper pick up + the banana from the table and place it in the bowl, the left gripper put down the + bowl. + + the left gripper pick up the banana from the table and place it in the middle plate, + the right gripper pick up the grape from the table and place it in the middle plate.' +sub_tasks: +- End +- Place the grape in the purple plate with left gripper +- Grasp the grape with right gripper +- Place the banana in the purple plate with right gripper +- Place the banana in the blue bowl with left gripper +- Grasp the banana with right gripper +- Grasp the grape with left gripper +- Place the bowl on the table with right gripper +- Place the grape in the purple plate with right gripper +- Place the banana in the purple plate with left gripper +- Lift the blue bowl with right gripper +- Grasp the blue bowl with right gripper +- Static +- Abnormal +- Grasp the banana with left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "RMC-AIDA-L_fruit_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 38 + dataset_name: fruit_storage + dataset_uuid: 8276223a-988a-4a97-8459-97f7c498cbb5 + device_model: Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/fruit_storage/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_fruit_storage + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: fruit_storage + dataset_uuid: null + task_descriptions: + - the left gripper pick up the bowl from the table, the right gripper pick up + the banana from the table and place it in the bowl, the left gripper put down + the bowl. + - the left gripper pick up the banana from the table and place it in the middle + plate, the right gripper pick up the grape from the table and place it in the + middle plate. + scene_type: + - home + - kitchen + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: grape + level1: fruit + level2: grape + level3: null + level4: null + level5: null + - object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - realman rmc-aida-l + end_effector_type: two_finger_gripper + meta: + robot_type: realman_rmc_aidal + codebase_version: v2.1 + statistics: + total_episodes: 521 + total_frames: 291785 + total_tasks: 2 + total_videos: 1563 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:520 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_get_water.yaml b/dataset_info/RMC-AIDA-L_get_water.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ec101f8a6a660849b2e949e48db55a7969c1b40c --- /dev/null +++ b/dataset_info/RMC-AIDA-L_get_water.yaml @@ -0,0 +1,927 @@ +dataset_name: get_water +dataset_uuid: 2a2cc6a7-ac07-494e-9b05-0a437532bdb1 +scene_type: +- home +- kitchen +atomic_actions: +- grasp +- pick +- place +- hold +- push +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: faucet + level1: tool + level2: faucet + level3: null + level4: null + level5: null +- object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null +- object_name: water + level1: drink + level2: water + level3: null + level4: null + level5: null +path: RMC-AIDA-L_get_water +video_url: ./assets/videos/RMC-AIDA-L_get_water.mp4 +thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_get_water.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 2.8GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: realman_rmc_aidal +codebase_version: v2.1 +statistics: + total_episodes: 333 + total_frames: 327536 + total_tasks: 3 + total_videos: 999 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:332 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'the left gripper pick up the black cup and place it horizontally under the + faucet, the right gripper turn on the faucet to fill the cup, and then turn off + the faucet. + + the left gripper pick up the red cup and place it horizontally under the faucet, + the right gripper turn on the faucet to fill the cup, and then turn off the faucet. + + the right gripper pick up the red cup and place it horizontally under the faucet, + the left gripper turn on the faucet to fill the cup, and then turn off the faucet.' +sub_tasks: +- Move the cup beneath the water dispenser nozzle with the right gripper +- Close the dispenser valve with the right gripper +- Open the dispenser valve and fill the cup with water with the right gripper +- Close the dispenser valve with the left gripper +- Open the dispenser valve and fill the cup with water with the left gripper +- end +- Move the cup beneath the water dispenser nozzle with the left gripper +- abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "RMC-AIDA-L_get_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 47 + dataset_name: get_water + dataset_uuid: 2a2cc6a7-ac07-494e-9b05-0a437532bdb1 + device_model: Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/get_water/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_get_water + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: get_water + dataset_uuid: null + task_descriptions: + - the left gripper pick up the black cup and place it horizontally under the faucet, + the right gripper turn on the faucet to fill the cup, and then turn off the + faucet. + - the left gripper pick up the red cup and place it horizontally under the faucet, + the right gripper turn on the faucet to fill the cup, and then turn off the + faucet. + - the right gripper pick up the red cup and place it horizontally under the faucet, + the left gripper turn on the faucet to fill the cup, and then turn off the faucet. + scene_type: + - home + - kitchen + atomic_actions: + - grasp + - pick + - place + - hold + - push + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: faucet + level1: tool + level2: faucet + level3: null + level4: null + level5: null + - object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null + - object_name: water + level1: drink + level2: water + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - realman rmc-aida-l + end_effector_type: two_finger_gripper + meta: + robot_type: realman_rmc_aidal + codebase_version: v2.1 + statistics: + total_episodes: 333 + total_frames: 327536 + total_tasks: 3 + total_videos: 999 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:332 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_glasses_storage.yaml b/dataset_info/RMC-AIDA-L_glasses_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..540d7dbbbf2ca9632b3e2f2ab4362470b8f6708c --- /dev/null +++ b/dataset_info/RMC-AIDA-L_glasses_storage.yaml @@ -0,0 +1,917 @@ +dataset_name: glasses_storage +dataset_uuid: 3f805357-8df7-41c3-aa00-a08b08e0915c +scene_type: +- home +atomic_actions: +- grasp +- pick +- fold +- close +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: glasses_case + level1: daily_necessities + level2: glasses_case + level3: null + level4: null + level5: null +- object_name: glasses + level1: daily_necessities + level2: glasses + level3: null + level4: null + level5: null +path: RMC-AIDA-L_glasses_storage +video_url: ./assets/videos/RMC-AIDA-L_glasses_storage.mp4 +thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_glasses_storage.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 8.6GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: realman_rmc_aidal +codebase_version: v2.1 +statistics: + total_episodes: 990 + total_frames: 861465 + total_tasks: 4 + total_videos: 2970 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:989 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'put the black glasses into the black glasses case. + + put the black glasses into the green glasses case. + + put the white glasses into the black glasses case. + + put the white glasses into the green glasses case.' +sub_tasks: +- Place the glasses case in the center of the table with your left hand. +- Grab the glasses case with your left hand. +- Lift the glasses with your right hand. +- Put the glasses into the case with your right hand. +- Discard. +- Grab the eyeglass frame with your right hand. +- Put the glasses into the case with your left hand. +- end +- Place the glasses on the table with your left hand. +- Close the glasses case with your left hand. +- Grab the frame with your right hand. +- Lift the glasses with your left hand. +- Fold the frame with your right hand. +- Place the glasses case in the center of the table with your right hand. +- Close the glasses case with your right hand. +- Fold the frame with your left hand. +- Grab the glasses with your left hand. +- Grab the glasses case with your right hand. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "RMC-AIDA-L_glasses_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 53 + dataset_name: glasses_storage + dataset_uuid: 3f805357-8df7-41c3-aa00-a08b08e0915c + device_model: Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/glasses_storage/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_glasses_storage + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: glasses_storage + dataset_uuid: null + task_descriptions: + - put the black glasses into the black glasses case. + - put the black glasses into the green glasses case. + - put the white glasses into the black glasses case. + - put the white glasses into the green glasses case. + scene_type: + - home + atomic_actions: + - grasp + - pick + - fold + - close + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: glasses_case + level1: daily_necessities + level2: glasses_case + level3: null + level4: null + level5: null + - object_name: glasses + level1: daily_necessities + level2: glasses + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - realman rmc-aida-l + end_effector_type: two_finger_gripper + meta: + robot_type: realman_rmc_aidal + codebase_version: v2.1 + statistics: + total_episodes: 990 + total_frames: 861465 + total_tasks: 4 + total_videos: 2970 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:989 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_organise_the_document_bag.yaml b/dataset_info/RMC-AIDA-L_organise_the_document_bag.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d5522d10068bf9a880c55a193a1e167425908759 --- /dev/null +++ b/dataset_info/RMC-AIDA-L_organise_the_document_bag.yaml @@ -0,0 +1,895 @@ +dataset_name: organise_the_document_bag +dataset_uuid: 327e0fe7-1be9-4724-b1ae-f511d8ab7f6b +scene_type: +- office +atomic_actions: +- grasp +- place +- pick +- pull +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: document_bag + level1: container + level2: document_bag + level3: null + level4: null + level5: null +path: RMC-AIDA-L_organise_the_document_bag +video_url: ./assets/videos/RMC-AIDA-L_organise_the_document_bag.mp4 +thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_organise_the_document_bag.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 2.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: realman_rmc_aidal +codebase_version: v2.1 +statistics: + total_episodes: 480 + total_frames: 225360 + total_tasks: 4 + total_videos: 1440 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:479 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'Open the green document bag. + + Open the green document bag. + + Open the red document bag. + + Open the red document bag.' +sub_tasks: +- Pulling up the zipper on the transparent plastic bag with the right gripper to close + it +- Pulling up the zipper on the transparent plastic bag with the left gripper to close + it +- Pick up the transparent plastic bag with the left gripper +- Pick up the transparent plastic bag with the right gripper +- Place the transparent plastic bag +- Place the transparent plastic bag with the right gripper +- End +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "RMC-AIDA-L_organise_the_document_bag_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 56 + dataset_name: organise_the_document_bag + dataset_uuid: 327e0fe7-1be9-4724-b1ae-f511d8ab7f6b + device_model: Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/pull_document_bag/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_organise_the_document_bag + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: organise_the_document_bag + dataset_uuid: null + task_descriptions: + - open the green document bag with left hand. + - open the green document bag with right hand. + - open the red document bag with left hand. + - open the red document bag with right hand. + scene_type: + - office + atomic_actions: + - grasp + - place + - pick + - pull + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: document_bag + level1: container + level2: document_bag + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - realman_rmc_aidal + end_effector_type: two_finger_gripper + meta: + robot_type: realman_rmc_aidal + codebase_version: v2.1 + statistics: + total_episodes: 480 + total_frames: 225360 + total_tasks: 4 + total_videos: 1440 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:479 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_place_test_tube.yaml b/dataset_info/RMC-AIDA-L_place_test_tube.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6cccfc14b1e327e5931d9a73bf55ab2d9f30de42 --- /dev/null +++ b/dataset_info/RMC-AIDA-L_place_test_tube.yaml @@ -0,0 +1,905 @@ +dataset_name: place_test_tube +dataset_uuid: 7ed8e496-1917-4844-a0f7-98fe52c1477d +scene_type: +- school +- hospital +atomic_actions: +- grasp +- place +- pick +- move +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: test_tube_rack + level1: container + level2: test_tube_rack + level3: null + level4: null + level5: null +- object_name: test_tube + level1: container + level2: test_tube + level3: null + level4: null + level5: null +path: RMC-AIDA-L_place_test_tube +video_url: ./assets/videos/RMC-AIDA-L_place_test_tube.mp4 +thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_place_test_tube.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 4.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: realman_rmc_aidal +codebase_version: v2.1 +statistics: + total_episodes: 648 + total_frames: 365863 + total_tasks: 1 + total_videos: 1944 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:647 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: Pick up the test tube rack with one hand, transfer it to the other, and then + place it into the test tube rack. +sub_tasks: +- "Place the test tube on the test tube rack with the left gripper \uFEFF" +- End +- Pass the test tube from the left gripper to the right gripper +- "pick up the test tube with the right gripper \uFEFF" +- Place the test tubes on the test tube rack with the left gripper +- "move the test tube from the right gripper to the left gripper \uFEFF" +- Pick up the test tube with the right gripper +- Grasp the arch-shaped block with the left gripper +- Pick up the test tube with the left gripper +- Place the test tubes on the test tube rack with the right gripper +- Pass the test tube from the right gripper to the left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "RMC-AIDA-L_place_test_tube_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 48 + dataset_name: place_test_tube + dataset_uuid: 7ed8e496-1917-4844-a0f7-98fe52c1477d + device_model: Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/test_tubes_storage/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_place_test_tube + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: place_test_tube + dataset_uuid: null + task_descriptions: + - pick up the test tube rack with the left hand, transfer it to the right, then + place it into the test tube rack. + - pick up the test tube rack with the left hand, transfer it to the right, then + place it into the test tube rack. + scene_type: + - school + - hospital + atomic_actions: + - grasp + - place + - pick + - move + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: test_tube_rack + level1: container + level2: test_tube_rack + level3: null + level4: null + level5: null + - object_name: test_tube + level1: container + level2: test_tube + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - realman_rmc_aidal + end_effector_type: two_finger_gripper + meta: + robot_type: realman_rmc_aidal + codebase_version: v2.1 + statistics: + total_episodes: 648 + total_frames: 365863 + total_tasks: 1 + total_videos: 1944 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:647 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_place_the_fruits_repeatedly.yaml b/dataset_info/RMC-AIDA-L_place_the_fruits_repeatedly.yaml new file mode 100644 index 0000000000000000000000000000000000000000..15c0285ea7167cf964802e5f33dc53b39bd8ef95 --- /dev/null +++ b/dataset_info/RMC-AIDA-L_place_the_fruits_repeatedly.yaml @@ -0,0 +1,962 @@ +dataset_name: place_the_fruits_repeatedly +dataset_uuid: 3448d8ea-8209-43cf-bfcc-550863a26b13 +scene_type: +- kitchen +atomic_actions: +- grasp +- place +- pick +- pour +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +- object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null +- object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null +- object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null +- object_name: bread + level1: food + level2: bread + level3: null + level4: null + level5: null +path: RMC-AIDA-L_place_the_fruits_repeatedly +video_url: ./assets/videos/RMC-AIDA-L_place_the_fruits_repeatedly.mp4 +thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_place_the_fruits_repeatedly.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 3.7GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: realman_rmc_aidal +codebase_version: v2.1 +statistics: + total_episodes: 481 + total_frames: 541540 + total_tasks: 8 + total_videos: 1443 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:480 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'put the bread into the blue bowl and pour it out repeatedly. + + put the egg yolk pastry into the blue bowl and pour it out repeatedly. + + put the orange into the blue bowl and pour it out repeatedly. + + put the peach into the blue bowl and pour it out repeatedly. + + put the bread into the pink bowl and pour it out repeatedly. + + put the egg yolk pastry into the pink bowl and pour it out repeatedly. + + put the orange into the pink bowl and pour it out repeatedly. + + put the peach into the pink bowl and pour it out repeatedly.' +sub_tasks: +- Pick up the bowl with the left gripper +- Place the bread into the bowl +- abnormal +- Pick up the egg yolk pastry with the right gripper +- Pour the egg yolk pastry out of bowl +- Pour the orange out of the bowl +- Place the peach into the bowl +- Pour the peach out of bowl +- Place the egg yolk pastry into the bowl +- Pick up the bread with the right gripper +- Pick up the peach with the right gripper +- Pour the bread out of the bowl +- end +- Place the bowl on the table +- Place the orange into the bowl +- Pick up the orange with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "RMC-AIDA-L_place_the_fruits_repeatedly_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 39 + dataset_name: place_the_fruits_repeatedly + dataset_uuid: 3448d8ea-8209-43cf-bfcc-550863a26b13 + device_model: Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/pour_bowl_repeatedly/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_place_the_fruits_repeatedly + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: place_the_fruits_repeatedly + dataset_uuid: null + task_descriptions: + - put the peach into the blue bowl and pour it out repeatedly. + - put the orange into the blue bowl and pour it out repeatedly. + - put the egg yolk pastry into the blue bowl and pour it out repeatedly. + - put the bread into the blue bowl and pour it out repeatedly. + - put the peach into the pink bowl and pour it out repeatedly. + - put the orange into the pink bowl and pour it out repeatedly. + - put the egg yolk pastry into the pink bowl and pour it out repeatedly. + - put the bread into the pink bowl and pour it out repeatedly. + scene_type: + - kitchen + atomic_actions: + - grasp + - place + - pick + - pour + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null + - object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null + - object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null + - object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null + - object_name: bread + level1: food + level2: bread + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - realman rmc-aida-l + end_effector_type: two_finger_gripper + meta: + robot_type: realman_rmc_aidal + codebase_version: v2.1 + statistics: + total_episodes: 481 + total_frames: 541540 + total_tasks: 8 + total_videos: 1443 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:480 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_place_towel.yaml b/dataset_info/RMC-AIDA-L_place_towel.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0bb4024159f23ae01c89138de8ab5eef5223e8a6 --- /dev/null +++ b/dataset_info/RMC-AIDA-L_place_towel.yaml @@ -0,0 +1,884 @@ +dataset_name: place_towel +dataset_uuid: 666a0109-3399-4955-b2fb-66509139637f +scene_type: +- home +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null +path: RMC-AIDA-L_place_towel +video_url: ./assets/videos/RMC-AIDA-L_place_towel.mp4 +thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_place_towel.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 4.8GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: realman_rmc_aidal +codebase_version: v2.1 +statistics: + total_episodes: 398 + total_frames: 281308 + total_tasks: 2 + total_videos: 1194 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:397 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'pick up the towel from the storage box and lay it flat on the black tablecloth. + + pick up the towel from the storage box and lay it flat on the table.' +sub_tasks: +- End +- Spread the towel flat with the left gripper +- Abnormal +- Pick up a towel with the left gripper +- Static +- Pick up a towel with the right gripper +- Spread the towel flat with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "RMC-AIDA-L_place_towel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 60 + dataset_name: place_towel + dataset_uuid: 666a0109-3399-4955-b2fb-66509139637f + device_model: Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/place_towel/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_place_towel + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: place_towel + dataset_uuid: null + task_descriptions: + - pick up the towel from the storage box and lay it flat on the table. + - pick up the towel from the storage box and lay it flat on the black tablecloth. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: towel + level1: clothing + level2: towel + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - realman_rmc_aidal + end_effector_type: two_finger_gripper + meta: + robot_type: realman_rmc_aidal + codebase_version: v2.1 + statistics: + total_episodes: 398 + total_frames: 281308 + total_tasks: 2 + total_videos: 1194 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:397 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_plate_storage.yaml b/dataset_info/RMC-AIDA-L_plate_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8fd7d92adf24656fe1ecd72e5a9eb92f49d7921 --- /dev/null +++ b/dataset_info/RMC-AIDA-L_plate_storage.yaml @@ -0,0 +1,899 @@ +dataset_name: plate_storage +dataset_uuid: 8c203fd8-2988-4e8f-8ddc-eedbb69dcdfe +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: shelf + level1: furniture + level2: shelf + level3: null + level4: null + level5: null +path: RMC-AIDA-L_plate_storage +video_url: ./assets/videos/RMC-AIDA-L_plate_storage.mp4 +thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_plate_storage.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 1.8GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: realman_rmc_aidal +codebase_version: v2.1 +statistics: + total_episodes: 498 + total_frames: 284602 + total_tasks: 2 + total_videos: 1494 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:497 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'Grip the plate with one hand, pass it to the other, then set it on the shelf. + + Grip the plate with one hand, pass it to the other, then set it on the shelf.' +sub_tasks: +- Place the plate on the shelf with the right gripper +- End +- Pick up the plate with the right gripper +- Pick up the plate with the left gripper +- Pass the plate from the left gripper to the right gripper +- Pass the plate from the right gripper to the left gripper +- Place the plate on the shelf with the left gripper +- abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "RMC-AIDA-L_plate_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 64 + dataset_name: plate_storage + dataset_uuid: 8c203fd8-2988-4e8f-8ddc-eedbb69dcdfe + device_model: Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/storage_plate/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_plate_storage + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: plate_storage + dataset_uuid: null + task_descriptions: + - grip the plate with the left hand, pass it to the right, then set it on the + shelf. + - grip the plate with the right hand, pass it to the left, then set it on the + shelf. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: shelf + level1: furniture + level2: shelf + level3: null + level4: null + level5: null + device_model: + - realman_rmc_aidal + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + meta: + robot_type: realman_rmc_aidal + codebase_version: v2.1 + statistics: + total_episodes: 498 + total_frames: 284602 + total_tasks: 2 + total_videos: 1494 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:497 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_pour_coffee_beans.yaml b/dataset_info/RMC-AIDA-L_pour_coffee_beans.yaml new file mode 100644 index 0000000000000000000000000000000000000000..39ff38fc3756c8c55d21ee32de241f94458d7825 --- /dev/null +++ b/dataset_info/RMC-AIDA-L_pour_coffee_beans.yaml @@ -0,0 +1,994 @@ +dataset_name: pour_coffee_beans +dataset_uuid: aa202f76-162f-44a2-aa83-c8448ab991e2 +scene_type: +- kitchen +- restaurant +atomic_actions: +- grasp +- place +- pick +- takeout +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: gray_cup + level1: container + level2: gray_cup + level3: null + level4: null + level5: null +- object_name: red_cup + level1: container + level2: red_cup + level3: null + level4: null + level5: null +- object_name: glass + level1: container + level2: glass + level3: null + level4: null + level5: null +- object_name: coffee_bean + level1: food + level2: coffee_bean + level3: null + level4: null + level5: null +- object_name: blue_spoon + level1: tableware + level2: blue_spoon + level3: null + level4: null + level5: null +- object_name: pink_spoon + level1: tableware + level2: pink_spoon + level3: null + level4: null + level5: null +- object_name: glass_lid + level1: daily_necessities + level2: glass_lid + level3: null + level4: null + level5: null +path: RMC-AIDA-L_pour_coffee_beans +video_url: ./assets/videos/RMC-AIDA-L_pour_coffee_beans.mp4 +thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_pour_coffee_beans.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 1.8GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: realman_rmc_aidal +codebase_version: v2.1 +statistics: + total_episodes: 493 + total_frames: 352789 + total_tasks: 8 + total_videos: 1479 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:492 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'Use a blue spoon to take out the coffee beans from the glass and pour them + into the gray cup. + + Use a pink spoon to take out the coffee beans from the glass and pour them into + the gray cup. + + Use a blue spoon to take out the coffee beans from the glass and pour them into + the red cup. + + Use a pink spoon to take out the coffee beans from the glass and pour them into + the gray cup. + + Use a blue spoon to take out the coffee beans from the glass and pour them into + the red cup. + + Use a pink spoon to take out the coffee beans from the glass and pour them into + the red cup. + + Use a pink spoon to take out the coffee beans from the glass and pour them into + the red cup. + + Use a blue spoon to take out the coffee beans from the glass and pour them into + the gray cup.' +sub_tasks: +- Place the spoon back in its original place with the right gripper +- Scoop a spoonful of beans into the cup with the right gripper +- abnormal +- Pick up the spoon with the right gripper +- Move the cup to the center of view with the left gripper +- end +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "RMC-AIDA-L_pour_coffee_beans_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 40 + dataset_name: pour_coffee_beans + dataset_uuid: aa202f76-162f-44a2-aa83-c8448ab991e2 + device_model: Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/pour_coffee_beans/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_pour_coffee_beans + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: pour_coffee_beans + dataset_uuid: null + task_descriptions: + - use a blue spoon with right hand to take out the coffee beans from the glass, + and then pour the coffee beans into the gray cup. + - use a pink spoon with right hand to take out the coffee beans from the glass, + and then pour the coffee beans into the gray cup. + - use a blue spoon with right hand to take out the coffee beans from the glass, + and then pour the coffee beans into the red cup. + - use a pink spoon with left hand to take out the coffee beans from the glass, + and then pour the coffee beans into the gray cup. + - use a blue spoon with left hand to take out the coffee beans from the glass, + and then pour the coffee beans into the red cup. + - use a pink spoon with left hand to take out the coffee beans from the glass, + and then pour the coffee beans into the red cup. + - use a pink spoon with right hand to take out the coffee beans from the glass, + and then pour the coffee beans into the red cup. + - use a blue spoon with left hand to take out the coffee beans from the glass, + and then pour the coffee beans into the gray cup. + scene_type: + - kitchen + - restaurant + atomic_actions: + - grasp + - place + - pick + - takeout + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: gray_cup + level1: container + level2: gray_cup + level3: null + level4: null + level5: null + - object_name: red_cup + level1: container + level2: red_cup + level3: null + level4: null + level5: null + - object_name: glass + level1: container + level2: glass + level3: null + level4: null + level5: null + - object_name: coffee_bean + level1: food + level2: coffee_bean + level3: null + level4: null + level5: null + - object_name: blue_spoon + level1: tableware + level2: blue_spoon + level3: null + level4: null + level5: null + - object_name: pink_spoon + level1: tableware + level2: pink_spoon + level3: null + level4: null + level5: null + - object_name: glass_lid + level1: daily_necessities + level2: glass_lid + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - realman rmc-aida-l + end_effector_type: two_finger_gripper + meta: + robot_type: realman_rmc_aidal + codebase_version: v2.1 + statistics: + total_episodes: 493 + total_frames: 352789 + total_tasks: 8 + total_videos: 1479 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:492 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_pour_rice.yaml b/dataset_info/RMC-AIDA-L_pour_rice.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f6bd547989f1b4c3fea54515a6d16420e24ea0b6 --- /dev/null +++ b/dataset_info/RMC-AIDA-L_pour_rice.yaml @@ -0,0 +1,924 @@ +dataset_name: pour_rice +dataset_uuid: c79b49bf-cadf-4094-831d-bbf6403956c6 +scene_type: +- kitchen +- restaurant +atomic_actions: +- grasp +- pick +- place +- pour +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: rice + level1: food + level2: rice + level3: null + level4: null + level5: null +- object_name: grain_cup + level1: container + level2: grain_cup + level3: null + level4: null + level5: null +- object_name: rice_cooker + level1: home_appliances + level2: rice_cooker + level3: null + level4: null + level5: null +path: RMC-AIDA-L_pour_rice +video_url: ./assets/videos/RMC-AIDA-L_pour_rice.mp4 +thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_pour_rice.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 2.9GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: realman_rmc_aidal +codebase_version: v2.1 +statistics: + total_episodes: 714 + total_frames: 413739 + total_tasks: 2 + total_videos: 2142 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:713 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'Place the bowl in the middle of the table with one hand and pour the rice + from the grain cup into it with the other hand. + + Place the bowl in the middle of the table with one hand and pour the rice from the + grain cup into it with the other hand.' +sub_tasks: +- Pick up the cup with rice in it with the left gripper +- End +- Move the bowl in the center of view with left gripper +- Pick up the bowl with the left gripper +- Place the cup on the table with the right gripper +- Pour the rice from the cup into the bowl with the left gripper +- Place the bowl in the center of view with the right gripper +- Static +- Place the cup on the table with the left gripper +- Pour the rice from the cup into the bowl with the right gripper +- Pick up the cup with rice in it with the right gripper +- Pick up the bowl with the right gripper +- Place the bowl in the center of view with the left gripper +- Grasp the cup with rice in it with right gripper +- abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "RMC-AIDA-L_pour_rice_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 62 + dataset_name: pour_rice + dataset_uuid: c79b49bf-cadf-4094-831d-bbf6403956c6 + device_model: Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/pour_rice/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_pour_rice + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: pour_rice + dataset_uuid: null + task_descriptions: + - place the bowl in the middle of the table with your right hand and pour the + rice from the grain cup into it with your left hand. + - place the bowl in the middle of the table with your left hand and pour the rice + from the grain cup into it with your right hand. + scene_type: + - kitchen + - restaurant + atomic_actions: + - grasp + - pick + - place + - pour + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: rice + level1: food + level2: rice + level3: null + level4: null + level5: null + - object_name: grain_cup + level1: container + level2: grain_cup + level3: null + level4: null + level5: null + - object_name: rice_cooker + level1: home_appliances + level2: rice_cooker + level3: null + level4: null + level5: null + device_model: + - realman_rmc_aidal + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + meta: + robot_type: realman_rmc_aidal + codebase_version: v2.1 + statistics: + total_episodes: 714 + total_frames: 413739 + total_tasks: 2 + total_videos: 2142 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:713 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_pour_tea.yaml b/dataset_info/RMC-AIDA-L_pour_tea.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cb51e6e799fdef3f28b3987606319c1f34ab2917 --- /dev/null +++ b/dataset_info/RMC-AIDA-L_pour_tea.yaml @@ -0,0 +1,918 @@ +dataset_name: pour_tea +dataset_uuid: 25f997d1-8e07-4035-b14f-0b3219460e17 +scene_type: +- home +- restaurant +atomic_actions: +- grasp +- place +- pick +- pour +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null +- object_name: tea + level1: water + level2: tea + level3: null + level4: null + level5: null +- object_name: teapot + level1: container + level2: teapot + level3: null + level4: null + level5: null +path: RMC-AIDA-L_pour_tea +video_url: ./assets/videos/RMC-AIDA-L_pour_tea.mp4 +thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_pour_tea.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 4.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: realman_rmc_aidal +codebase_version: v2.1 +statistics: + total_episodes: 790 + total_frames: 547759 + total_tasks: 2 + total_videos: 2370 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:789 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'Grasp the handle of the teapot with one hand and pour tea into the teacup. + + Grasp the handle of the teapot with one hand and pour tea into the teacup.' +sub_tasks: +- Pour tea into the teacup with the light gripper +- Pour tea into the teacup with the right gripper +- end +- abnormal +- Pour tea into the teacup with the left gripper +- Pick up the teacup with the right gripper +- Put down the teapot with the left gripper +- Pick up the teacup with the left gripper +- Pick up the teapot with the right gripper +- Place the teacup in the center of view with the left gripper +- Pick up the teapot with the left gripper +- Put down the teapot with the right gripper +- Place the teacup in the center of view with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "RMC-AIDA-L_pour_tea_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 63 + dataset_name: pour_tea + dataset_uuid: 25f997d1-8e07-4035-b14f-0b3219460e17 + device_model: Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/pour_tea/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_pour_tea + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: pour_tea + dataset_uuid: null + task_descriptions: + - grasp the handle of the teapot with left hand and pour tea into the teacup. + - grasp the handle of the teapot with right hand and pour tea into the teacup. + scene_type: + - home + - restaurant + atomic_actions: + - grasp + - place + - pick + - pour + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null + - object_name: tea + level1: water + level2: tea + level3: null + level4: null + level5: null + - object_name: teapot + level1: container + level2: teapot + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - realman rmc-aida-l + end_effector_type: two_finger_gripper + meta: + robot_type: realman_rmc_aidal + codebase_version: v2.1 + statistics: + total_episodes: 790 + total_frames: 547759 + total_tasks: 2 + total_videos: 2370 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:789 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_pull_open_bag.yaml b/dataset_info/RMC-AIDA-L_pull_open_bag.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5438bd360c3ef36da7c968a6ca9fcfa6c54468b9 --- /dev/null +++ b/dataset_info/RMC-AIDA-L_pull_open_bag.yaml @@ -0,0 +1,925 @@ +dataset_name: pull_open_bag +dataset_uuid: 4363efec-236f-4495-a86b-14c3a5d20345 +scene_type: +- home +atomic_actions: +- grasp +- pull +- zip +- up +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: food_bag + level1: container + level2: food_bag + level3: null + level4: null + level5: null +- object_name: zipper + level1: fastener + level2: zipper + level3: null + level4: null + level5: null +path: RMC-AIDA-L_pull_open_bag +video_url: ./assets/videos/RMC-AIDA-L_pull_open_bag.mp4 +thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_pull_open_bag.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 8.3GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: realman_rmc_aidal +codebase_version: v2.1 +statistics: + total_episodes: 1396 + total_frames: 684327 + total_tasks: 5 + total_videos: 4188 + total_chunks: 2 + chunks_size: 1000 + fps: 30 +splits: + train: 0:1395 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'unzip the black food bag. + + close the zipper of the black food bag. + + close the zipper of the food bag. + + unzip the khaki food bag. + + close the zipper of the khaki food bag.' +sub_tasks: +- Grab the zipper with your left hand. +- Abnormal +- Place the bag on the table with left gripper +- Pull open the zipper with your right hand. +- Grab the bag with your left hand. +- Static +- Unzip the zipper of bag with right gripper +- End +- Pick up the bag with left gripper +- Pick up the bag with right gripper +- Deliver the bag from right gripper to left gripper +- Pull up the zipper with your right hand. +- Discard. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "RMC-AIDA-L_pull_open_bag_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n\ + │ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ \ + \ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n\ + │ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n\ + │ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ \ + \ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├──\ + \ episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n\ + \ │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ \ + \ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │\ + \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ + \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ + \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ + \ episode_001004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 51 + dataset_name: pull_open_bag + dataset_uuid: 4363efec-236f-4495-a86b-14c3a5d20345 + device_model: Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/pull_open_food_bag/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_pull_open_bag + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: pull_open_bag + dataset_uuid: null + task_descriptions: + - unzip the black food bag. + - close the zipper of the black food bag. + - unzip the khaki food bag. + - close the zipper of the khaki food bag. + - close the zipper of the food bag. + scene_type: + - home + atomic_actions: + - grasp + - pull + - zip + - up + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: food_bag + level1: container + level2: food_bag + level3: null + level4: null + level5: null + - object_name: zipper + level1: fastener + level2: zipper + level3: null + level4: null + level5: null + device_model: + - realman_rmc_aidal + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + meta: + robot_type: realman_rmc_aidal + codebase_version: v2.1 + statistics: + total_episodes: 1396 + total_frames: 684327 + total_tasks: 5 + total_videos: 4188 + total_chunks: 2 + chunks_size: 1000 + fps: 30 + splits: + train: 0:1395 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_stack_baskets.yaml b/dataset_info/RMC-AIDA-L_stack_baskets.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fcfd403fbb3a42c279c9f80b94278a9d854ffd8d --- /dev/null +++ b/dataset_info/RMC-AIDA-L_stack_baskets.yaml @@ -0,0 +1,848 @@ +dataset_name: stack_baskets +dataset_uuid: d4c26606-f766-48ca-befd-dbdeead83a95 +scene_type: [] +atomic_actions: [] +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: [] +path: RMC-AIDA-L_stack_baskets +video_url: ./assets/videos/RMC-AIDA-L_stack_baskets.mp4 +thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_stack_baskets.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 3.8GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: realman_rmc_aidal +codebase_version: v2.1 +statistics: + total_episodes: 484 + total_frames: 278342 + total_tasks: 2 + total_videos: 1452 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:483 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'put the brown basket on top of the yellow basket. + + put the yellow basket on top of the brown basket.' +sub_tasks: +- Pick up the light basket with the right gripper +- Place the light basket in the center of the table with left gripper +- Pick up the dark basket with the left gripper +- Pick up the dark basket with the right gripper +- abnormal +- Grasp the dark basket with right gripper +- Place the dark basket in the center of view with the left gripper +- Pick up the light basket with the left gripper +- End +- Place the dark basket on the light basket with right gripper +- Place the light basket in the center of view with the left gripper +- Place the dark basket on the light basket with the right gripper +- Grasp the light basket with left gripper +- Place the light basket on the dark basket with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "RMC-AIDA-L_stack_baskets_qced_hardlink/\n├── @eaDir/\n│ └── .DS_Store@SynoResource\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── @eaDir/\n\ + │ │ └── .DS_Store@SynoResource\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 42 + dataset_name: stack_baskets + dataset_uuid: d4c26606-f766-48ca-befd-dbdeead83a95 + device_model: Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/stack_baskets/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_stack_baskets + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: {} + meta: + robot_type: realman_rmc_aidal + codebase_version: v2.1 + statistics: + total_episodes: 484 + total_frames: 278342 + total_tasks: 2 + total_videos: 1452 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:483 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_stir_coffee.yaml b/dataset_info/RMC-AIDA-L_stir_coffee.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d0440ccc3c7d382dc350ee61496a954444bc1bc4 --- /dev/null +++ b/dataset_info/RMC-AIDA-L_stir_coffee.yaml @@ -0,0 +1,958 @@ +dataset_name: stir_coffee +dataset_uuid: ee676d19-f3d4-4c11-bb83-9a2474cf77c5 +scene_type: +- home +- office +- cafe +atomic_actions: +- grasp +- take +- put +- move +- stir +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: cup + level1: tableware + level2: cup + level3: null + level4: null + level5: null +- object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null +- object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null +path: RMC-AIDA-L_stir_coffee +video_url: ./assets/videos/RMC-AIDA-L_stir_coffee.mp4 +thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_stir_coffee.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 3.6GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: realman_rmc_aidal +codebase_version: v2.1 +statistics: + total_episodes: 767 + total_frames: 555807 + total_tasks: 8 + total_videos: 2301 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:766 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'Move the grey cup to the center, lift the blue spoon, stir it three times + in the cup, and put the spoon into the cup. + + Move the grey cup to the center, lift the blue spoon, stir it three times in the + cup, and put the spoon into the cup. + + Move the grey cup to the center, lift the pink spoon, stir it three times in the + cup, and put the spoon into the cup. + + Move the grey cup to the center, lift the pink spoon, stir it three times in the + cup, and put the spoon into the cup. + + Move the red cup to the center, lift the blue spoon, stir it three times in the + cup, and put the spoon into the cup. + + Move the red cup to the center, lift the blue spoon, stir it three times in the + cup, and put the spoon into the cup. + + Move the red cup to the center, lift the pink spoon, stir it three times in the + cup, and put the spoon into the cup. + + Move the red cup to the center, lift the pink spoon, stir it three times in the + cup, and put the spoon into the cup.' +sub_tasks: +- Stir the coffee in the cup with the right gripper +- Stir the coffee with right gripper +- Abnormal +- Move the cup with coffee to the center of view with the right gripper +- Static +- Move the cup in the center of the table with right gripper +- Grasp the spoon with left gripper +- Move the cup with coffee to the center of view with the left gripper +- Stir the coffee in the cup with the left gripper +- Grasp the spoon with right gripper +- End +- Stir the coffee with left gripper +- Move the cup in the center of the table with left gripper +- Pick up the spoon with the left gripper +- Pick up the spoon with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "RMC-AIDA-L_stir_coffee_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 50 + dataset_name: stir_coffee + dataset_uuid: ee676d19-f3d4-4c11-bb83-9a2474cf77c5 + device_model: Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/stir_coffee/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_stir_coffee + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: stir_coffee + dataset_uuid: null + task_descriptions: + - move the grey cup to the center with your right hand, lift the blue spoon with + your left hand and stir it three times in the cup, put the spoon into the cup. + - move the grey cup to the center with your left hand, lift the blue spoon with + your right hand and stir it three times in the cup, put the spoon into the cup. + - move the grey cup to the center with your right hand, lift the pink spoon with + your left hand and stir it three times in the cup, put the spoon into the cup. + - move the grey cup to the center with your left hand, lift the pink spoon with + your right hand and stir it three times in the cup, put the spoon into the cup. + - move the red cup to the center with your right hand, lift the blue spoon with + your left hand and stir it three times in the cup, put the spoon into the cup. + - move the red cup to the center with your left hand, lift the blue spoon with + your right hand and stir it three times in the cup, put the spoon into the cup. + - move the red cup to the center with your right hand, lift the pink spoon with + your left hand and stir it three times in the cup, put the spoon into the cup. + - move the red cup to the center with your left hand, lift the pink spoon with + your right hand and stir it three times in the cup, put the spoon into the cup. + scene_type: + - home + - office + - cafe + atomic_actions: + - grasp + - take + - put + - move + - stir + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cup + level1: tableware + level2: cup + level3: null + level4: null + level5: null + - object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null + - object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null + device_model: + - realman rmc-aida-l + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + meta: + robot_type: realman_rmc_aidal + codebase_version: v2.1 + statistics: + total_episodes: 767 + total_frames: 555807 + total_tasks: 8 + total_videos: 2301 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:766 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/RMC-AIDA-L_storage_bin_storage.yaml b/dataset_info/RMC-AIDA-L_storage_bin_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34e84f3d06ed0b77e91d012dcc4add6fcac214db --- /dev/null +++ b/dataset_info/RMC-AIDA-L_storage_bin_storage.yaml @@ -0,0 +1,936 @@ +dataset_name: storage_bin_storage +dataset_uuid: 257289bb-b38e-411f-a2d0-d787e9f12419 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: teacup + level1: container + level2: teacup + level3: null + level4: null + level5: null +- object_name: block + level1: toy + level2: block + level3: null + level4: null + level5: null +- object_name: storage_bin + level1: container + level2: storage_bin + level3: null + level4: null + level5: null +path: RMC-AIDA-L_storage_bin_storage +video_url: ./assets/videos/RMC-AIDA-L_storage_bin_storage.mp4 +thumbnail_url: ./assets/thumbnails/RMC-AIDA-L_storage_bin_storage.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 15.7GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: realman_rmc_aidal +codebase_version: v2.1 +statistics: + total_episodes: 302 + total_frames: 914776 + total_tasks: 1 + total_videos: 906 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:301 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: pick up the teacup on the table and place it into the storage bin, pick up + the block on the table and place it into the storage bin. +sub_tasks: +- Place the orange block in the storage box with left gripper +- Place the white block in the storage box with left gripper +- Place the red block in the storage box with left gripper +- Grasp the green block with left gripper +- Grasp the dark blue block with right gripper +- Grasp the orange block with left gripper +- Place the white block in the storage box with right gripper +- Place the green block and red block in the storage box with left gripper +- Grasp the cup with left gripper +- Place the dark blue block in the storage box with left gripper +- Grasp the orange block and white block with left gripper +- Grasp the light blue block with right gripper +- Place the green block in the storage box with right gripper +- Place the light blue block in the storage box with left gripper +- Grasp the red block with left gripper +- Grasp the white block with right gripper +- Place the orange block in the storage box with right gripper +- Grasp the green block and red block with left gripper +- Place the green block in the storage box with left gripper +- Grasp the cup with right gripper +- Abnormal +- Place the red block in the storage box with right gripper +- Place the cup in the storage box with left gripper +- Grasp the light blue block with left gripper +- Place the light blue block in the storage box with right gripper +- End +- Place the dark blue block in the storage box with right gripper +- Place the cup in the storage box with right gripper +- Place the orange block and white block in the storage box with left gripper +- Grasp the green block with right gripper +- Grasp the white block with left gripper +- Grasp the red block with right gripper +- Static +- Grasp the orange block with right gripper +- Grasp the dark blue block with left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "RMC-AIDA-L_storage_bin_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 61 + dataset_name: storage_bin_storage + dataset_uuid: 257289bb-b38e-411f-a2d0-d787e9f12419 + device_model: Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/11realman_rmc_aidal/storage_bin_storage/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/RMC-AIDA-L_storage_bin_storage + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: storage_bin_storage + dataset_uuid: null + task_descriptions: + - pick up the teacup on the table and place it into the storage bin, pick up the + block on the table and place it into the storage bin. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: teacup + level1: container + level2: teacup + level3: null + level4: null + level5: null + - object_name: block + level1: toy + level2: block + level3: null + level4: null + level5: null + - object_name: storage_bin + level1: container + level2: storage_bin + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - realman_rmc_aidal + end_effector_type: two_finger_gripper + meta: + robot_type: realman_rmc_aidal + codebase_version: v2.1 + statistics: + total_episodes: 302 + total_frames: 914776 + total_tasks: 1 + total_videos: 906 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:301 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Split_aloha_basket_storage_banana.yaml b/dataset_info/Split_aloha_basket_storage_banana.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2afaa5a385e99f81225837d78065e28f528ef35a --- /dev/null +++ b/dataset_info/Split_aloha_basket_storage_banana.yaml @@ -0,0 +1,884 @@ +dataset_name: basket_storage_banana +dataset_uuid: e9d8e155-1dc0-4402-b406-4b59d65884c7 +scene_type: +- home +- kitchen +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +path: Split_aloha_basket_storage_banana +video_url: ./assets/videos/Split_aloha_basket_storage_banana.mp4 +thumbnail_url: ./assets/thumbnails/Split_aloha_basket_storage_banana.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 2.8GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 368 + total_frames: 164327 + total_tasks: 1 + total_videos: 1104 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:367 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: pick up the banana and put it into the basket. +sub_tasks: +- End +- Place the banana in the basket with right gripper +- Grasp the banana with right gripper +- Place the basket in the center of the table with the left gripper +- Grasp the basket with the left gripper +- Static +- Abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Split_aloha_basket_storage_banana_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 172 + dataset_name: basket_storage_banana + dataset_uuid: e9d8e155-1dc0-4402-b406-4b59d65884c7 + device_model: Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/8agilex_cobot_decoupled_magic/basket_storage_banana/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Split_aloha_basket_storage_banana + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: basket_storage_banana + dataset_uuid: null + task_descriptions: + - pick up the banana and put it into the basket. + scene_type: + - home + - kitchen + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: banana + level1: fruit + level2: banana + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 368 + total_frames: 164327 + total_tasks: 1 + total_videos: 1104 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:367 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Split_aloha_basket_storage_bread.yaml b/dataset_info/Split_aloha_basket_storage_bread.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a15f3307e59a9b5a658ba1d6d546da3f7b44923c --- /dev/null +++ b/dataset_info/Split_aloha_basket_storage_bread.yaml @@ -0,0 +1,898 @@ +dataset_name: basket_storage_bread +dataset_uuid: c86fb8b5-8845-4798-9c83-f3a7aec176f7 +scene_type: +- home +- kitchen +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +path: Split_aloha_basket_storage_bread +video_url: ./assets/videos/Split_aloha_basket_storage_bread.mp4 +thumbnail_url: ./assets/thumbnails/Split_aloha_basket_storage_bread.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 4.3GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 497 + total_frames: 211779 + total_tasks: 4 + total_videos: 1491 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:496 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'One hand grasps the yellow basket and places it in the middle of the table, + while the other hand picks up the long bread and puts it into the yellow basket. + + One hand grasps the black basket and places it in the middle of the table, while + the other hand picks up the long bread and puts it into the black basket. + + One hand grasps the black basket and places it in the middle of the table, while + the other hand picks up the long bread and puts it into the black basket. + + One hand grasps the yellow basket and places it in the middle of the table, while + the other hand picks up the long bread and puts it into the yellow basket.' +sub_tasks: +- abnormal +- Pick up the bread +- Move the basket to the center of view +- place the bread into the basket +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Split_aloha_basket_storage_bread_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 184 + dataset_name: basket_storage_bread + dataset_uuid: c86fb8b5-8845-4798-9c83-f3a7aec176f7 + device_model: Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/8agilex_cobot_decoupled_magic/basket_storage_bread/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Split_aloha_basket_storage_bread + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: basket_storage_bread + dataset_uuid: null + task_descriptions: + - the left hand grasp the black basket and placed it in the middle of the table, + the right hand pick up the long bread and put it into the black basket. + - the right hand grasp the black basket and placed it in the middle of the table, + the left hand pick up the long bread and put it into the black basket. + - the left hand grasp the yellow basket and placed it in the middle of the table, + the right hand pick up the long bread and put it into the yellow basket. + - the right hand grasp the yellow basket and placed it in the middle of the table, + the left hand pick up the long bread and put it into the yellow basket. + scene_type: + - home + - kitchen + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 497 + total_frames: 211779 + total_tasks: 4 + total_videos: 1491 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:496 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Split_aloha_basket_storage_egg_yolk_pastry.yaml b/dataset_info/Split_aloha_basket_storage_egg_yolk_pastry.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9b9c7c1a4b8141238dd8d2c4afbd9920ba3b9145 --- /dev/null +++ b/dataset_info/Split_aloha_basket_storage_egg_yolk_pastry.yaml @@ -0,0 +1,885 @@ +dataset_name: basket_storage_egg_yolk_pastry +dataset_uuid: c5e8e66a-392d-4197-8236-7a50365c0ed3 +scene_type: +- home +- kitchen +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +path: Split_aloha_basket_storage_egg_yolk_pastry +video_url: ./assets/videos/Split_aloha_basket_storage_egg_yolk_pastry.mp4 +thumbnail_url: ./assets/thumbnails/Split_aloha_basket_storage_egg_yolk_pastry.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 6.7GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 629 + total_frames: 254419 + total_tasks: 1 + total_videos: 1887 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:628 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: pick up the egg yolk pastry and put it into the basket. +sub_tasks: +- Grasp the basket with left gripper +- Static +- Grasp egg yolk pastry with right gripper +- End +- Abnormal +- Place the egg yolk pastry in the basket with right gripper +- Place the basket in the center of view with left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Split_aloha_basket_storage_egg_yolk_pastry_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 171 + dataset_name: basket_storage_egg_yolk_pastry + dataset_uuid: c5e8e66a-392d-4197-8236-7a50365c0ed3 + device_model: Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/8agilex_cobot_decoupled_magic/basket_storage_egg_yolk_pastry/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Split_aloha_basket_storage_egg_yolk_pastry + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: basket_storage_egg_yolk_pastry + dataset_uuid: null + task_descriptions: + - pick up the egg yolk pastry and put it into the basket. + - put the basket in the center of the table. + scene_type: + - home + - kitchen + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: egg_yolk_pastry + level1: food + level2: egg_yolk_pastry + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 629 + total_frames: 254419 + total_tasks: 1 + total_videos: 1887 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:628 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Split_aloha_basket_storage_long_bread.yaml b/dataset_info/Split_aloha_basket_storage_long_bread.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7383adb11ae53047792c60e78daa9dc77458af53 --- /dev/null +++ b/dataset_info/Split_aloha_basket_storage_long_bread.yaml @@ -0,0 +1,884 @@ +dataset_name: basket_storage_long_bread +dataset_uuid: 3edf5fc6-ba54-4b74-901e-ac0b49ed35b3 +scene_type: +- home +- kitchen +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +path: Split_aloha_basket_storage_long_bread +video_url: ./assets/videos/Split_aloha_basket_storage_long_bread.mp4 +thumbnail_url: ./assets/thumbnails/Split_aloha_basket_storage_long_bread.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 3.7GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 311 + total_frames: 129236 + total_tasks: 1 + total_videos: 933 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:310 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: pick up the long bread and put it into the basket. +sub_tasks: +- Grasp the long bread with right gripper +- Grasp the basket with the left gripper +- End +- Place the long bread in the basket with right gripper +- Place the basket in the center of the table with the left gripper +- Abnormal +- Static +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Split_aloha_basket_storage_long_bread_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 177 + dataset_name: basket_storage_long_bread + dataset_uuid: 3edf5fc6-ba54-4b74-901e-ac0b49ed35b3 + device_model: Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/8agilex_cobot_decoupled_magic/basket_storage_long_bread/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Split_aloha_basket_storage_long_bread + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: basket_storage_long_bread + dataset_uuid: null + task_descriptions: + - pick up the long bread and put it into the basket. + scene_type: + - home + - kitchen + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 311 + total_frames: 129236 + total_tasks: 1 + total_videos: 933 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:310 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Split_aloha_basket_storage_orange.yaml b/dataset_info/Split_aloha_basket_storage_orange.yaml new file mode 100644 index 0000000000000000000000000000000000000000..57bbaca856697f71a653f32082b870df4a241830 --- /dev/null +++ b/dataset_info/Split_aloha_basket_storage_orange.yaml @@ -0,0 +1,885 @@ +dataset_name: basket_storage_orange +dataset_uuid: f478bc5f-0850-4241-9c9b-cea1674f8e67 +scene_type: +- home +- kitchen +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +path: Split_aloha_basket_storage_orange +video_url: ./assets/videos/Split_aloha_basket_storage_orange.mp4 +thumbnail_url: ./assets/thumbnails/Split_aloha_basket_storage_orange.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 6.1GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 642 + total_frames: 293847 + total_tasks: 1 + total_videos: 1926 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:641 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: pick up the orange and put it into the basket. +sub_tasks: +- Place the basket in the center of view with left gripper +- Place the orange in the basket with right gripper +- Grasp the orange with right gripper +- Grasp the basket with left gripper +- End +- Abnormal +- Static +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Split_aloha_basket_storage_orange_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 173 + dataset_name: basket_storage_orange + dataset_uuid: f478bc5f-0850-4241-9c9b-cea1674f8e67 + device_model: Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/8agilex_cobot_decoupled_magic/basket_storage_orange/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Split_aloha_basket_storage_orange + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: basket_storage_orange + dataset_uuid: null + task_descriptions: + - pick up the orange and put it into the basket. + - put the basket in the center of the table + scene_type: + - home + - kitchen + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: orange + level1: fruit + level2: orange + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 642 + total_frames: 293847 + total_tasks: 1 + total_videos: 1926 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:641 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Split_aloha_basket_storage_peach.yaml b/dataset_info/Split_aloha_basket_storage_peach.yaml new file mode 100644 index 0000000000000000000000000000000000000000..97899eed57e27fc84fabad51114254f9ec5d4874 --- /dev/null +++ b/dataset_info/Split_aloha_basket_storage_peach.yaml @@ -0,0 +1,887 @@ +dataset_name: basket_storage_peach +dataset_uuid: aa4c76bf-e637-4da0-a962-fc0c3caea73c +scene_type: +- home +- kitchen +atomic_actions: +- grasp +- place +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +path: Split_aloha_basket_storage_peach +video_url: ./assets/videos/Split_aloha_basket_storage_peach.mp4 +thumbnail_url: ./assets/thumbnails/Split_aloha_basket_storage_peach.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 5.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 994 + total_frames: 392136 + total_tasks: 1 + total_videos: 2982 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:993 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: pick up the peach and put it into the basket. +sub_tasks: +- Pick up the peach +- Place the peach in the basket with right gripper +- place the peach into the basket +- Static +- Move the basket to the center of view +- Grasp the peach with right gripper +- Grasp the basket with left gripper +- Place the basket in the center of view with left gripper +- Abnormal +- End +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Split_aloha_basket_storage_peach_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 168 + dataset_name: basket_storage_peach + dataset_uuid: aa4c76bf-e637-4da0-a962-fc0c3caea73c + device_model: Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/8agilex_cobot_decoupled_magic/basket_storage_peach/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Split_aloha_basket_storage_peach + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: basket_storage_peach + dataset_uuid: null + task_descriptions: + - pick up the peach and put it into the basket. + scene_type: + - home + - kitchen + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: peach + level1: fruit + level2: peach + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 994 + total_frames: 392136 + total_tasks: 1 + total_videos: 2982 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:993 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Split_aloha_fold_the_pants.yaml b/dataset_info/Split_aloha_fold_the_pants.yaml new file mode 100644 index 0000000000000000000000000000000000000000..50f2340b6f298811e695f919f497e3a943a6cd1e --- /dev/null +++ b/dataset_info/Split_aloha_fold_the_pants.yaml @@ -0,0 +1,896 @@ +dataset_name: fold_the_pants +dataset_uuid: 2d20404b-b035-4962-9e8e-055858867cb3 +scene_type: +- home +atomic_actions: +- grasp +- fold +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: pants + level1: clothing + level2: pants + level3: null + level4: null + level5: null +path: Split_aloha_fold_the_pants +video_url: ./assets/videos/Split_aloha_fold_the_pants.mp4 +thumbnail_url: ./assets/thumbnails/Split_aloha_fold_the_pants.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 8.5GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 486 + total_frames: 402577 + total_tasks: 4 + total_videos: 1458 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:485 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'the pants are placed with the back facing upwards, the cuffs facing to the + left, the left gripper grasp the cuffs, the right gripper grasp the leg and fold + it forward, the left gripper lift the folded cuffs and fold them against the leg, + adjust the position of the pants to the center of the table. + + the pants are placed with the back facing upwards, the cuffs facing to the right, + the right gripper grasp the cuffs, the left gripper grasp the leg and fold it forward, + the right gripper lift the folded cuffs and fold them against the leg, adjust the + position of the pants to the center of the table. + + the pants are placed with the front facing upwards, the cuffs facing to the left, + the left gripper grasp the cuffs, the right gripper grasp the leg and fold it forward, + the left gripper lift the folded cuffs and fold them against the leg, adjust the + position of the pants to the center of the table. + + the pants are placed with the front facing upwards, the cuffs facing to the right, + the right gripper grasp the cuffs, the left gripper grasp the leg and fold it forward, + the right gripper lift the folded cuffs and fold them against the leg, adjust the + position of the pants to the center of the table.' +sub_tasks: +- Fold the bottom of the pants upward +- Fold the pants from left to right +- Fold your pants from right to left +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Split_aloha_fold_the_pants_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 166 + dataset_name: fold_the_pants + dataset_uuid: 2d20404b-b035-4962-9e8e-055858867cb3 + device_model: Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/8agilex_cobot_decoupled_magic/fold_pants/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Split_aloha_fold_the_pants + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: fold_the_pants + dataset_uuid: null + task_descriptions: + - the pants are placed with the back facing upwards, the cuffs facing to the left, + the left gripper grasp the cuffs, the right gripper grasp the leg and fold it + forward, the left gripper lift the folded cuffs and fold them against the leg, + adjust the position of the pants to the center of the table. + - the pants are placed with the back facing upwards, the cuffs facing to the right, + the right gripper grasp the cuffs, the left gripper grasp the leg and fold it + forward, the right gripper lift the folded cuffs and fold them against the leg, + adjust the position of the pants to the center of the table. + - the pants are placed with the front facing upwards, the cuffs facing to the + left, the left gripper grasp the cuffs, the right gripper grasp the leg and + fold it forward, the left gripper lift the folded cuffs and fold them against + the leg, adjust the position of the pants to the center of the table. + - the pants are placed with the front facing upwards, the cuffs facing to the + right, the right gripper grasp the cuffs, the left gripper grasp the leg and + fold it forward, the right gripper lift the folded cuffs and fold them against + the leg, adjust the position of the pants to the center of the table. + scene_type: + - home + atomic_actions: + - grasp + - fold + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: pants + level1: clothing + level2: pants + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_magic_aloha + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 486 + total_frames: 402577 + total_tasks: 4 + total_videos: 1458 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:485 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Split_aloha_plate_storage.yaml b/dataset_info/Split_aloha_plate_storage.yaml new file mode 100644 index 0000000000000000000000000000000000000000..eabb960c99680e8cfe39523c9d5f6efaa086dc49 --- /dev/null +++ b/dataset_info/Split_aloha_plate_storage.yaml @@ -0,0 +1,905 @@ +dataset_name: plate_storage +dataset_uuid: 7f2dd151-758c-4265-89b3-5d486f875ef8 +scene_type: +- home +- kitchen +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +- object_name: plate_rack + level1: furniture + level2: plate_rack + level3: null + level4: null + level5: null +path: Split_aloha_plate_storage +video_url: ./assets/videos/Split_aloha_plate_storage.mp4 +thumbnail_url: ./assets/thumbnails/Split_aloha_plate_storage.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 2.6GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 499 + total_frames: 229687 + total_tasks: 5 + total_videos: 1497 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:498 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'put the plate on the plate rack. + + the left gripper grasp the green plate, the left gripper pass the green plate to + the right gripper, and the right gripper place the green plate on the plate rack. + + the right gripper grasp the green plate, the right gripper pass the green plate + to the left gripper, and the left gripper place the green plate on the plate rack. + + the left gripper grasp the pink plate, the left gripper pass the pink plate to the + right gripper, and the right gripper place the pink plate on the plate rack. + + the right gripper grasp the pink plate, the right gripper pass the pink plate to + the left gripper, and the left gripper place the pink plate on the plate rack.' +sub_tasks: +- Pass the plate from the left gripper to the right gripper +- Place the plate on the shelf +- Pass the plate from the right gripper to the left gripper +- Pick up the plate with the left gripper +- Pick up the plate with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Split_aloha_plate_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 167 + dataset_name: plate_storage + dataset_uuid: 7f2dd151-758c-4265-89b3-5d486f875ef8 + device_model: Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/8agilex_cobot_decoupled_magic/plate_storage/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Split_aloha_plate_storage + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: plate_storage + dataset_uuid: null + task_descriptions: + - put the plate on the plate rack. + - the left gripper grasp the green plate, the left gripper pass the green plate + to the right gripper, and the right gripper place the green plate on the plate + rack. + - the left gripper grasp the pink plate, the left gripper pass the pink plate + to the right gripper, and the right gripper place the pink plate on the plate + rack. + - the right gripper grasp the green plate, the right gripper pass the green plate + to the left gripper, and the left gripper place the green plate on the plate + rack. + - the right gripper grasp the pink plate, the right gripper pass the pink plate + to the left gripper, and the left gripper place the pink plate on the plate + rack. + scene_type: + - home + - kitchen + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null + - object_name: plate_rack + level1: furniture + level2: plate_rack + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 499 + total_frames: 229687 + total_tasks: 5 + total_videos: 1497 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:498 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Split_aloha_pour_rice.yaml b/dataset_info/Split_aloha_pour_rice.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f0b31f9b80c79cc92b0f5f70674e84032146d242 --- /dev/null +++ b/dataset_info/Split_aloha_pour_rice.yaml @@ -0,0 +1,903 @@ +dataset_name: pour_rice +dataset_uuid: 004a37ce-a00a-4547-a5a0-0538af2c8a99 +scene_type: +- home +- kitchen +atomic_actions: +- place +- pick +- grasp +- pour +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: rice + level1: food + level2: rice + level3: null + level4: null + level5: null +- object_name: rice_container + level1: container + level2: rice_container + level3: null + level4: null + level5: null +- object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null +path: Split_aloha_pour_rice +video_url: ./assets/videos/Split_aloha_pour_rice.mp4 +thumbnail_url: ./assets/thumbnails/Split_aloha_pour_rice.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 4.9GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 740 + total_frames: 504182 + total_tasks: 1 + total_videos: 2220 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:739 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: the right gripper grasp the rice container and place it in the center of the + table, the left gripper grasp the rice scoop and pour the rice into the rice container. +sub_tasks: +- Grasp the cup with rice in it with left gripper +- Place the bowl in the center of view with the right gripper +- End +- Place the cup on the table with the left gripper +- Static +- Pick up the bowl with the right gripper +- Abnormal +- Move the bowl in the center of view with right gripper +- Move the bowl to the center of view with the right gripper +- Pick up the cup with rice in it with the left gripper +- Pour the rice from the cup into the bowl with the left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Split_aloha_pour_rice_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 169 + dataset_name: pour_rice + dataset_uuid: 004a37ce-a00a-4547-a5a0-0538af2c8a99 + device_model: Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/8agilex_cobot_decoupled_magic/pour_rice/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Split_aloha_pour_rice + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: pour_rice + dataset_uuid: null + task_descriptions: + - the right gripper grasp the rice container and place it in the center of the + table, the left gripper grasp the cup and pour the rice into the rice container. + scene_type: + - home + - kitchen + atomic_actions: + - place + - pick + - grasp + - pour + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: rice + level1: food + level2: rice + level3: null + level4: null + level5: null + - object_name: rice_container + level1: container + level2: rice_container + level3: null + level4: null + level5: null + - object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 740 + total_frames: 504182 + total_tasks: 1 + total_videos: 2220 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:739 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Split_aloha_pour_tea.yaml b/dataset_info/Split_aloha_pour_tea.yaml new file mode 100644 index 0000000000000000000000000000000000000000..50968dd6e24c9f7d1eae64c887114e53a6bfed1d --- /dev/null +++ b/dataset_info/Split_aloha_pour_tea.yaml @@ -0,0 +1,933 @@ +dataset_name: pour_tea +dataset_uuid: dc22129e-7334-4a8e-b843-438763c0a08f +scene_type: +- home +- office +atomic_actions: +- grasp +- place +- pick +- pour +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: teacup + level1: container + level2: teacup + level3: null + level4: null + level5: null +- object_name: teapot + level1: container + level2: teapot + level3: null + level4: null + level5: null +path: Split_aloha_pour_tea +video_url: ./assets/videos/Split_aloha_pour_tea.mp4 +thumbnail_url: ./assets/thumbnails/Split_aloha_pour_tea.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1M-10M +dataset_size: 13.7GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 977 + total_frames: 1305706 + total_tasks: 5 + total_videos: 2931 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:976 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'pour tea into the teacup. + + grasp the brown teapot and pour the tea into the two brown teacups one by one, put + the brown teapot back in its original place. + + grasp the brown teapot and pour the tea into the two white teacups one by one, put + the brown teapot back in its original place. + + grasp the stainless steel teapot and pour the tea into the two stainless steel teacups + one by one, put the stainless steel teapot back in its original place. + + grasp the blue porcelain teapot and pour the tea into the two blue porcelain teacups + one by one, put the blue porcelain teapot back in its original place.' +sub_tasks: +- Pick up the teacup with the left gripper +- End +- Place the teacup in the center of view with the right gripper +- Pick up the teapot with the left gripper +- Pick up the teapot with the right gripper +- Abnormal +- Pick up the teacup with the right gripper +- Place the down the teapot with the left gripper +- Grasp the teapot with left gripper +- Put down the teapot with left gripper +- Pour tea into the teacup with right gripper +- Put down the teapot with right gripper +- Pour tea into the teacup with left gripper +- Pour tea into the teacup with the right gripper +- Grasp the teapot with right gripper +- Pour tea into the teacup with the left gripper +- Place the down the teapot with the right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Split_aloha_pour_tea_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n\ + │ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ \ + \ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n\ + │ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n\ + │ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ \ + \ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├──\ + \ episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n\ + \ │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ \ + \ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │\ + \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ + \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ + \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ + \ episode_001004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 165 + dataset_name: pour_tea + dataset_uuid: dc22129e-7334-4a8e-b843-438763c0a08f + device_model: Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/8agilex_cobot_decoupled_magic/pour_tea/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Split_aloha_pour_tea + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: pour_tea + dataset_uuid: null + task_descriptions: + - pour tea into the teacup. + - the left gripper grasp the teacup and place it in the center of the table, the + right gripper grasp the teapot and pour tea into the teacup, the right gripper + set down the teapot. + - the right gripper grasp the teacup and place it in the center of the table, + the left gripper grasp the teapot and pour tea into the teacup, the left gripper + set down the teapot. + - grasp the blue porcelain teapot and pour the tea into the two blue porcelain + teacups one by one, put the blue porcelain teapot back in its original place. + - grasp the brown teapot and pour the tea into the two brown teacups one by one, + put the brown teapot back in its original place. + - grasp the brown teapot and pour the tea into the two white teacups one by one, + put the brown teapot back in its original place. + - grasp the stainless steel teapot and pour the tea into the two stainless steel + teacups one by one, put the stainless steel teapot back in its original place. + scene_type: + - home + - office + atomic_actions: + - grasp + - place + - pick + - pour + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: teacup + level1: container + level2: teacup + level3: null + level4: null + level5: null + - object_name: teapot + level1: container + level2: teapot + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_magic_aloha + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 977 + total_frames: 1305706 + total_tasks: 5 + total_videos: 2931 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:976 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Split_aloha_scoop_coffee_beans.yaml b/dataset_info/Split_aloha_scoop_coffee_beans.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fdfe330e03e685dcaa5e4ca30cbd338675325a1a --- /dev/null +++ b/dataset_info/Split_aloha_scoop_coffee_beans.yaml @@ -0,0 +1,991 @@ +dataset_name: scoop_coffee_beans +dataset_uuid: 643f286d-7021-4fb1-8c63-aecd24fb763e +scene_type: +- home +- office +atomic_actions: +- scoop +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null +- object_name: cup_lid + level1: container + level2: cup_lid + level3: null + level4: null + level5: null +- object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null +- object_name: coffee_beans + level1: food + level2: coffee_beans + level3: null + level4: null + level5: null +path: Split_aloha_scoop_coffee_beans +video_url: ./assets/videos/Split_aloha_scoop_coffee_beans.mp4 +thumbnail_url: ./assets/thumbnails/Split_aloha_scoop_coffee_beans.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 3.8GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 499 + total_frames: 409440 + total_tasks: 8 + total_videos: 1497 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:498 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'the right gripper place the grey cup in the center of the table, the left + gripper take the pink spoon from the cup lid and scoop out the coffee beans from + the coffee cup and put them into the grey cup, the left gripper put the spoon back + into the cup lid. + + the right gripper place the red cup in the center of the table, the left gripper + take the pink spoon from the cup lid and scoop out the coffee beans from the coffee + cup and put them into the red cup, the left gripper put the spoon back into the + cup lid. + + the right gripper place the red cup in the center of the table, the left gripper + take the blue spoon from the cup lid and scoop out the coffee beans from the coffee + cup and put them into the red cup, the left gripper put the spoon back into the + cup lid. + + the left gripper place the red cup in the center of the table, the right gripper + take the pink spoon from the cup lid and scoop out the coffee beans from the coffee + cup and put them into the red cup, the right gripper put the spoon back into the + cup lid. + + the left gripper place the red cup in the center of the table, the right gripper + take the blue spoon from the cup lid and scoop out the coffee beans from the coffee + cup and put them into the red cup, the right gripper put the spoon back into the + cup lid. + + the left gripper place the grey cup in the center of the table, the right gripper + take the pink spoon from the cup lid and scoop out the coffee beans from the coffee + cup and put them into the grey cup, the right gripper put the spoon back into the + cup lid. + + the left gripper place the grey cup in the center of the table, the right gripper + take the blue spoon from the cup lid and scoop out the coffee beans from the coffee + cup and put them into the grey cup, the right gripper put the spoon back into the + cup lid. + + the right gripper place the grey cup in the center of the table, the left gripper + take the blue spoon from the cup lid and scoop out the coffee beans from the coffee + cup and put them into the grey cup, the left gripper put the spoon back into the + cup lid.' +sub_tasks: +- Place the spoon back in its original place +- Move the cup to the center of view +- Pick up the spoon +- Scoop a spoonful of beans into the cup +- abnormal +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Split_aloha_scoop_coffee_beans_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 174 + dataset_name: scoop_coffee_beans + dataset_uuid: 643f286d-7021-4fb1-8c63-aecd24fb763e + device_model: Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/8agilex_cobot_decoupled_magic/scoop_coffee_beans/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Split_aloha_scoop_coffee_beans + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: scoop_coffee_beans + dataset_uuid: null + task_descriptions: + - the left gripper place the grey cup in the center of the table, the right gripper + take the blue spoon from the cup lid and scoop out the coffee beans from the + coffee cup and put them into the grey cup, the right gripper put the spoon back + into the cup lid. + - the left gripper place the grey cup in the center of the table, the right gripper + take the pink spoon from the cup lid and scoop out the coffee beans from the + coffee cup and put them into the grey cup, the right gripper put the spoon back + into the cup lid. + - the right gripper place the grey cup in the center of the table, the left gripper + take the blue spoon from the cup lid and scoop out the coffee beans from the + coffee cup and put them into the grey cup, the left gripper put the spoon back + into the cup lid. + - the right gripper place the grey cup in the center of the table, the left gripper + take the pink spoon from the cup lid and scoop out the coffee beans from the + coffee cup and put them into the grey cup, the left gripper put the spoon back + into the cup lid. + - the left gripper place the red cup in the center of the table, the right gripper + take the blue spoon from the cup lid and scoop out the coffee beans from the + coffee cup and put them into the red cup, the right gripper put the spoon back + into the cup lid. + - the left gripper place the red cup in the center of the table, the right gripper + take the pink spoon from the cup lid and scoop out the coffee beans from the + coffee cup and put them into the red cup, the right gripper put the spoon back + into the cup lid. + - the right gripper place the red cup in the center of the table, the left gripper + take the blue spoon from the cup lid and scoop out the coffee beans from the + coffee cup and put them into the red cup, the left gripper put the spoon back + into the cup lid. + - the right gripper place the red cup in the center of the table, the left gripper + take the pink spoon from the cup lid and scoop out the coffee beans from the + coffee cup and put them into the red cup, the left gripper put the spoon back + into the cup lid. + scene_type: + - home + - office + atomic_actions: + - scoop + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null + - object_name: cup_lid + level1: container + level2: cup_lid + level3: null + level4: null + level5: null + - object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null + - object_name: coffee_beans + level1: food + level2: coffee_beans + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 499 + total_frames: 409440 + total_tasks: 8 + total_videos: 1497 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:498 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Split_aloha_stack_baskets.yaml b/dataset_info/Split_aloha_stack_baskets.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a762763c64f7e89b42f9e21b7108c301d03e6b7d --- /dev/null +++ b/dataset_info/Split_aloha_stack_baskets.yaml @@ -0,0 +1,898 @@ +dataset_name: stack_baskets +dataset_uuid: 95468603-b11c-4660-b4a3-4ea44675e67f +scene_type: +- home +- kitchen +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null +path: Split_aloha_stack_baskets +video_url: ./assets/videos/Split_aloha_stack_baskets.mp4 +thumbnail_url: ./assets/thumbnails/Split_aloha_stack_baskets.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 17.5GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 1066 + total_frames: 474590 + total_tasks: 2 + total_videos: 3198 + total_chunks: 2 + chunks_size: 1000 + fps: 30 +splits: + train: 0:1065 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'the left gripper grasp the black basket and place it in the center of the + table, the right gripper grasp the brown basket and place it inside the black one. + + the left gripper grasp the brown basket and place it in the center of the table, + the right gripper grasp the black basket and place it inside the brown one.' +sub_tasks: +- End +- Grasp the light basket with left gripper +- Move the dark basket to the center of view +- Grasp the dark basket with right gripper +- Place the dark basket on top of the light basket +- Grasp the dark basket with left gripper +- Place the light-colored basket in the center +- Grasp the light basket with right gripper +- Place the dark basket in the center of the table with left gripper +- Place the dark basket on the light basket with right gripper +- Static +- Pick up the light basket with the right gripper +- Place the light basket on the dark basket with right gripper +- Place the light basket on the dark basket +- Place the light basket in the center of the table with left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Split_aloha_stack_baskets_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n\ + │ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ \ + \ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n\ + │ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n\ + │ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ \ + \ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├──\ + \ episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n\ + \ │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ \ + \ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │\ + \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ + \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ + \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ + \ episode_001004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 175 + dataset_name: stack_baskets + dataset_uuid: 95468603-b11c-4660-b4a3-4ea44675e67f + device_model: Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/8agilex_cobot_decoupled_magic/stack_baskets/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Split_aloha_stack_baskets + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: stack_baskets + dataset_uuid: null + task_descriptions: + - the left gripper grasp the black basket and place it in the center of the table, + the right gripper grasp the brown basket and place it inside the black one. + - the left gripper grasp the brown basket and place it in the center of the table, + the right gripper grasp the black basket and place it inside the brown one. + scene_type: + - home + - kitchen + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: basket + level1: container + level2: basket + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_magic_aloha + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 1066 + total_frames: 474590 + total_tasks: 2 + total_videos: 3198 + total_chunks: 2 + chunks_size: 1000 + fps: 30 + splits: + train: 0:1065 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Split_aloha_stir_coffee.yaml b/dataset_info/Split_aloha_stir_coffee.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a67ac235423fde713ac577a5825d31356d7192fa --- /dev/null +++ b/dataset_info/Split_aloha_stir_coffee.yaml @@ -0,0 +1,954 @@ +dataset_name: stir_coffee +dataset_uuid: 32b751d9-e42c-4ded-9426-ef495fea9a3d +scene_type: +- home +- office +atomic_actions: +- scoop +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null +- object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null +- object_name: coffee + level1: drink + level2: coffee + level3: null + level4: null + level5: null +path: Split_aloha_stir_coffee +video_url: ./assets/videos/Split_aloha_stir_coffee.mp4 +thumbnail_url: ./assets/thumbnails/Split_aloha_stir_coffee.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 2.4GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 495 + total_frames: 280886 + total_tasks: 8 + total_videos: 1485 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:494 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'the left gripper place the grey cup towards the center of the table, the right + gripper grasp the blue spoon, stir the coffee in the grey cup three times, put the + spoon back in its original position. + + the left gripper place the grey cup towards the center of the table, the right gripper + grasp the pink spoon, stir the coffee in the grey cup three times, put the spoon + back in its original position. + + the left gripper place the red cup towards the center of the table, the right gripper + grasp the blue spoon, stir the coffee in the red cup three times, put the spoon + back in its original position. + + the left gripper place the red cup towards the center of the table, the right gripper + grasp the pink spoon, stir the coffee in the red cup three times, put the spoon + back in its original position. + + the right gripper place the grey cup towards the center of the table, the left gripper + grasp the blue spoon, stir the coffee in the grey cup three times, put the spoon + back in its original position. + + the right gripper place the grey cup towards the center of the table, the left gripper + grasp the pink spoon, stir the coffee in the grey cup three times, put the spoon + back in its original position. + + the right gripper place the red cup towards the center of the table, the left gripper + grasp the blue spoon, stir the coffee in the red cup three times, put the spoon + back in its original position. + + the right gripper place the red cup towards the center of the table, the left gripper + grasp the pink spoon, stir the coffee in the red cup three times, put the spoon + back in its original position.' +sub_tasks: +- End +- Grasp the spoon with right gripper +- Move the cup in the center of the table with right gripper +- Stir the coffee with right gripper +- Stir the coffee in the cup +- Pick up the spoon +- Grasp the spoon with left gripper +- Stir the coffee with left gripper +- Move the cup with coffee to the center of view +- Static +- Move the cup in the center of the table with left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Split_aloha_stir_coffee_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 170 + dataset_name: stir_coffee + dataset_uuid: 32b751d9-e42c-4ded-9426-ef495fea9a3d + device_model: Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/8agilex_cobot_decoupled_magic/stir_coffee/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Split_aloha_stir_coffee + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: stir_coffee + dataset_uuid: null + task_descriptions: + - the left gripper place the grey cup towards the center of the table, the right + gripper grasp the blue spoon, stir the coffee in the grey cup three times, put + the spoon back in its original position. + - the left gripper place the grey cup towards the center of the table, the right + gripper grasp the pink spoon, stir the coffee in the grey cup three times, put + the spoon back in its original position. + - the left gripper place the red cup towards the center of the table, the right + gripper grasp the blue spoon, stir the coffee in the red cup three times, put + the spoon back in its original position. + - the left gripper place the red cup towards the center of the table, the right + gripper grasp the pink spoon, stir the coffee in the red cup three times, put + the spoon back in its original position. + - the right gripper place the grey cup towards the center of the table, the left + gripper grasp the blue spoon, stir the coffee in the grey cup three times, put + the spoon back in its original position. + - the right gripper place the grey cup towards the center of the table, the left + gripper grasp the pink spoon, stir the coffee in the grey cup three times, put + the spoon back in its original position. + - the right gripper place the red cup towards the center of the table, the left + gripper grasp the blue spoon, stir the coffee in the red cup three times, put + the spoon back in its original position. + - the right gripper place the red cup towards the center of the table, the left + gripper grasp the pink spoon, stir the coffee in the red cup three times, put + the spoon back in its original position. + scene_type: + - home + - office + atomic_actions: + - scoop + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null + - object_name: spoon + level1: tableware + level2: spoon + level3: null + level4: null + level5: null + - object_name: coffee + level1: drink + level2: coffee + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_magic_aloha + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 495 + total_frames: 280886 + total_tasks: 8 + total_videos: 1485 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:494 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Split_aloha_wipe_table.yaml b/dataset_info/Split_aloha_wipe_table.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d6f689b5d985487955b6ee2f750b6aae02c306a5 --- /dev/null +++ b/dataset_info/Split_aloha_wipe_table.yaml @@ -0,0 +1,902 @@ +dataset_name: wipe_table +dataset_uuid: 18848f29-f6ff-4f8a-ab4d-acc67d812c64 +scene_type: +- home +- kitchen +atomic_actions: +- grasp +- place +- pick +- wipe +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null +- object_name: rag + level1: clothing + level2: rag + level3: null + level4: null + level5: null +- object_name: stain + level1: garbage + level2: stain + level3: null + level4: null + level5: null +path: Split_aloha_wipe_table +video_url: ./assets/videos/Split_aloha_wipe_table.mp4 +thumbnail_url: ./assets/thumbnails/Split_aloha_wipe_table.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 1.3GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 200 + total_frames: 106804 + total_tasks: 1 + total_videos: 600 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:199 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: the left gripper pick up the fallen cup and place it upright, the right gripper + grasp the black rag and wipe the stain on the table, the right gripper put the black + rag back in its original position. +sub_tasks: +- Grasp the rag with right gripper +- Abnormal +- Place the rag on the table with right gripper +- Stand the paper cup upright with left gripper +- End +- Static +- Grasp the paper cup with left gripper +- Wipe the stains off the table with the rag with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Split_aloha_wipe_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 182 + dataset_name: wipe_table + dataset_uuid: 18848f29-f6ff-4f8a-ab4d-acc67d812c64 + device_model: Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/8agilex_cobot_decoupled_magic/wipe_table/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Split_aloha_wipe_table + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: wipe_table + dataset_uuid: null + task_descriptions: + - the left gripper pick up the fallen cup and place it upright, the right gripper + grasp the black rag and wipe the stain on the table, the right gripper put the + black rag back in its original position. + scene_type: + - home + - kitchen + atomic_actions: + - grasp + - place + - pick + - wipe + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null + - object_name: rag + level1: clothing + level2: rag + level3: null + level4: null + level5: null + - object_name: stain + level1: garbage + level2: stain + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 200 + total_frames: 106804 + total_tasks: 1 + total_videos: 600 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:199 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Split_aloha_wipe_the_table.yaml b/dataset_info/Split_aloha_wipe_the_table.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3ea9a64bbed927a22f624f473c29542a250545c3 --- /dev/null +++ b/dataset_info/Split_aloha_wipe_the_table.yaml @@ -0,0 +1,913 @@ +dataset_name: wipe_the_table +dataset_uuid: c5648c51-14f0-4d84-a3cc-2fd1c28069a8 +scene_type: +- home +- kitchen +atomic_actions: +- grasp +- place +- pick +- wipe +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null +- object_name: rag + level1: clothing + level2: rag + level3: null + level4: null + level5: null +- object_name: stain + level1: garbage + level2: stain + level3: null + level4: null + level5: null +path: Split_aloha_wipe_the_table +video_url: ./assets/videos/Split_aloha_wipe_the_table.mp4 +thumbnail_url: ./assets/thumbnails/Split_aloha_wipe_the_table.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 1.3GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 302 + total_frames: 166266 + total_tasks: 3 + total_videos: 906 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:301 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'the left gripper pick up the fallen cup and place it upright, the right gripper + grasp the purple rag and wipe the coffee stain on the table, the right gripper put + the purple rag back in its original position. + + the left gripper pick up the fallen cup and place it upright, the right gripper + grasp the blue rag and wipe the tea stain on the table, the right gripper put the + blue rag back in its original position. + + the left gripper pick up the fallen cup and place it upright, the right gripper + grasp the purple rag and wipe the tea stain on the table, the right gripper put + the purple rag back in its original position.' +sub_tasks: +- Stand the paper cup upright +- Wipe the stains off the table with a rag +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Split_aloha_wipe_the_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 190 + dataset_name: wipe_the_table + dataset_uuid: c5648c51-14f0-4d84-a3cc-2fd1c28069a8 + device_model: Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/8agilex_cobot_decoupled_magic/wipe_the_table/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Split_aloha_wipe_the_table + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: wipe_the_table + dataset_uuid: null + task_descriptions: + - the left gripper pick up the fallen cup and place it upright, the right gripper + grasp the blue rag and wipe the coffee stain on the table, the right gripper + put the blue rag back in its original position. + - the left gripper pick up the fallen cup and place it upright, the right gripper + grasp the purple rag and wipe the coffee stain on the table, the right gripper + put the purple rag back in its original position. + - the left gripper pick up the fallen cup and place it upright, the right gripper + grasp the blue rag and wipe the tea stain on the table, the right gripper put + the blue rag back in its original position. + - the left gripper pick up the fallen cup and place it upright, the right gripper + grasp the purple rag and wipe the tea stain on the table, the right gripper + put the purple rag back in its original position. + scene_type: + - home + - kitchen + atomic_actions: + - grasp + - place + - pick + - wipe + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null + - object_name: rag + level1: clothing + level2: rag + level3: null + level4: null + level5: null + - object_name: stain + level1: garbage + level2: stain + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 302 + total_frames: 166266 + total_tasks: 3 + total_videos: 906 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:301 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Split_aloha_zip_up_the_document_bag.yaml b/dataset_info/Split_aloha_zip_up_the_document_bag.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ef55b53556525cf7a068d01620d299d55c201667 --- /dev/null +++ b/dataset_info/Split_aloha_zip_up_the_document_bag.yaml @@ -0,0 +1,889 @@ +dataset_name: zip_up_the_document_bag +dataset_uuid: e06c5784-df23-4a4a-b86d-adc2bcf12bae +scene_type: +- office +atomic_actions: +- grasp +- pull +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: 77.2 +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: document_bag + level1: office_supplies + level2: document_bag + level3: null + level4: null + level5: null +path: Split_aloha_zip_up_the_document_bag +video_url: ./assets/videos/Split_aloha_zip_up_the_document_bag.mp4 +thumbnail_url: ./assets/thumbnails/Split_aloha_zip_up_the_document_bag.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 2.7GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: agilex_cobot_decoupled_magic +codebase_version: v2.1 +statistics: + total_episodes: 495 + total_frames: 234815 + total_tasks: 4 + total_videos: 1485 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:494 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: 'the left gripper grasp one corner of the bag, the right gripper pull the green + zipper, the left gripper put down the bag. + + the left gripper grasp one corner of the bag, the right gripper pull the red zipper, + the left gripper put down the bag. + + the right gripper grasp one corner of the bag, the left gripper pull the green zipper, + the right gripper put down the bag. + + the right gripper grasp one corner of the bag, the left gripper pull the red zipper, + the right gripper put down the bag.' +sub_tasks: +- Pulling up the zipper on the transparent plastic bag with the left gripper to close + it +- Pulling up the zipper on the transparent plastic bag with the right gripper to close + it +- Static +- End +- Pick up the transparent plastic bag with the left gripper +- Pick up the transparent plastic bag with the right gripper +- Place the transparent plastic bag +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + resolution: + - 720 + - 1280 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +action_space: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Split_aloha_zip_up_the_document_bag_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 179 + dataset_name: zip_up_the_document_bag + dataset_uuid: e06c5784-df23-4a4a-b86d-adc2bcf12bae + device_model: Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + operation_platform_height: 77.2 + yaml_file_path: /mnt/nas/synnas/docker/8agilex_cobot_decoupled_magic/zip_up_document_bag/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Split_aloha_zip_up_the_document_bag + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: zip_up_the_document_bag + dataset_uuid: null + task_descriptions: + - the left gripper grasp one corner of the bag, the right gripper pull the green + zipper, the left gripper put down the bag. + - the left gripper grasp one corner of the bag, the right gripper pull the red + zipper, the left gripper put down the bag. + - the right gripper grasp one corner of the bag, the left gripper pull the green + zipper, the right gripper put down the bag. + - the right gripper grasp one corner of the bag, the left gripper pull the red + zipper, the right gripper put down the bag. + scene_type: + - office + atomic_actions: + - grasp + - pull + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: document_bag + level1: office_supplies + level2: document_bag + level3: null + level4: null + level5: null + operation_platform_height: 77.2 + device_model: + - agilex_cobot_decoupled_magic + end_effector_type: two_finger_gripper + meta: + robot_type: agilex_cobot_decoupled_magic + codebase_version: v2.1 + statistics: + total_episodes: 495 + total_frames: 234815 + total_tasks: 4 + total_videos: 1485 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:494 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Tianqin_A2_box_storage_part.yaml b/dataset_info/Tianqin_A2_box_storage_part.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0da3ef3590f790c52940692d637a0b380354a33f --- /dev/null +++ b/dataset_info/Tianqin_A2_box_storage_part.yaml @@ -0,0 +1,858 @@ +dataset_name: box_storage_part +dataset_uuid: 7a1de37c-d8b0-476a-b503-99a0fd93cafd +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: part + level1: tool + level2: part + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +path: Tianqin_A2_box_storage_part +video_url: ./assets/videos/Tianqin_A2_box_storage_part.mp4 +thumbnail_url: ./assets/thumbnails/Tianqin_A2_box_storage_part.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 25.6GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: ruantong_a2d +codebase_version: v2.1 +statistics: + total_episodes: 1104 + total_frames: 681531 + total_tasks: 1 + total_videos: 3312 + total_chunks: 2 + chunks_size: 1000 + fps: 30 +splits: + train: 0:1103 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 17 + names: + - robot_joint_3_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 17 + names: + - robot_joint_3_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: take the parts from the box containing them and put them into an empty box. +sub_tasks: +- Place the data cable in the another box +- Abnormal +- Grasp the data cable +- End +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 17 + names: + - robot_joint_3_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +action_space: + dtype: float32 + shape: + - 17 + names: + - robot_joint_3_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Tianqin_A2_box_storage_part_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n\ + │ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ \ + \ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n\ + │ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ \ + \ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├──\ + \ episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n\ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ + \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ + \ episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ + \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ + \ episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ + \ episode_001004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 452 + dataset_name: box_storage_part + dataset_uuid: 7a1de37c-d8b0-476a-b503-99a0fd93cafd + device_model: ruantong_a2d + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/gt02/rt/15_配件小产线上料工序-放电源线场景3/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Tianqin_A2_box_storage_part + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: part + level1: tool + level2: part + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: Storage_data_cable + dataset_uuid: null + task_descriptions: + - Put the data cable from the box into another box. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: data_cable + level1: accessories + level2: data_cable + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + -operation_platform_height: null + device_model: + - tianqing_a2 + end_effector_type: two_finger_gripper + meta: + robot_type: ruantong_a2d + codebase_version: v2.1 + statistics: + total_episodes: 1104 + total_frames: 681531 + total_tasks: 1 + total_videos: 3312 + total_chunks: 2 + chunks_size: 1000 + fps: 30 + splits: + train: 0:1103 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 17 + names: + - robot_joint_3_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 17 + names: + - robot_joint_3_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Tianqin_A2_container_storage_graphics_card.yaml b/dataset_info/Tianqin_A2_container_storage_graphics_card.yaml new file mode 100644 index 0000000000000000000000000000000000000000..af9bec7b5114c775395f237c5f1152e052651390 --- /dev/null +++ b/dataset_info/Tianqin_A2_container_storage_graphics_card.yaml @@ -0,0 +1,868 @@ +dataset_name: container_storage_graphics_card +dataset_uuid: 5059394a-7089-4138-ab9c-db9bfadd94c8 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +- object_name: black_container + level1: container + level2: black_container + level3: null + level4: null + level5: null +- object_name: graphics_card + level1: tool + level2: graphics_card + level3: null + level4: null + level5: null +path: Tianqin_A2_container_storage_graphics_card +video_url: ./assets/videos/Tianqin_A2_container_storage_graphics_card.mp4 +thumbnail_url: ./assets/thumbnails/Tianqin_A2_container_storage_graphics_card.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 12.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: ruantong_a2d +codebase_version: v2.1 +statistics: + total_episodes: 280 + total_frames: 277206 + total_tasks: 1 + total_videos: 840 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:279 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 17 + names: + - robot_joint_3_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 17 + names: + - robot_joint_3_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: take out graphics card from box remove packaging put into black container. +sub_tasks: +- Lift the bag +- Take out the hard disk of the bag +- End +- Place the down the bag +- Abnormal +- Place the hard disk in the hard disk enclosure +- Grasp the bag +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 17 + names: + - robot_joint_3_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +action_space: + dtype: float32 + shape: + - 17 + names: + - robot_joint_3_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Tianqin_A2_container_storage_graphics_card_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 449 + dataset_name: container_storage_graphics_card + dataset_uuid: 5059394a-7089-4138-ab9c-db9bfadd94c8 + device_model: ruantong_a2d + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/gt02/rt/14_备料工序-显卡备料场景1-2/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Tianqin_A2_container_storage_graphics_card + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + - object_name: black_container + level1: container + level2: black_container + level3: null + level4: null + level5: null + - object_name: graphics_card + level1: tool + level2: graphics_card + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: container_storage_graphics_card + dataset_uuid: null + task_descriptions: + - take out graphics card from box remove packaging put into black container. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: black_container + level1: container + level2: black_container + level3: null + level4: null + level5: null + - object_name: graphics_card + level1: tool + level2: graphics_card + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + -operation_platform_height: null + device_model: + - tianqing_a2d + end_effector_type: two_finger_gripper + meta: + robot_type: ruantong_a2d + codebase_version: v2.1 + statistics: + total_episodes: 280 + total_frames: 277206 + total_tasks: 1 + total_videos: 840 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:279 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 17 + names: + - robot_joint_3_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 17 + names: + - robot_joint_3_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/Tianqin_A2_place_the_paper_box.yaml b/dataset_info/Tianqin_A2_place_the_paper_box.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1c29f3b214eb2189e9c9755f0d4cff5323d1ec9d --- /dev/null +++ b/dataset_info/Tianqin_A2_place_the_paper_box.yaml @@ -0,0 +1,831 @@ +dataset_name: place_the_paper_box +dataset_uuid: 291007f6-cfd0-4e23-bc97-da01c0f367ac +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +path: Tianqin_A2_place_the_paper_box +video_url: ./assets/videos/Tianqin_A2_place_the_paper_box.mp4 +thumbnail_url: ./assets/thumbnails/Tianqin_A2_place_the_paper_box.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 3.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: ruantong_a2d +codebase_version: v2.1 +statistics: + total_episodes: 236 + total_frames: 94841 + total_tasks: 1 + total_videos: 708 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:235 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 17 + names: + - robot_joint_3_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 17 + names: + - robot_joint_3_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: pick up the paper box and put it at the back. +sub_tasks: +- End +- Abnormal +- Grasp the paper box +- Place the paper box on the table +- Place the data cable in the another box +- Grasp the data cable +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_high_rgb + name: cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_high_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 17 + names: + - robot_joint_3_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +action_space: + dtype: float32 + shape: + - 17 + names: + - robot_joint_3_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "Tianqin_A2_place_the_paper_box_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 453 + dataset_name: place_the_paper_box + dataset_uuid: 291007f6-cfd0-4e23-bc97-da01c0f367ac + device_model: ruantong_a2d + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/软通天擎/gt02/rt/12_配件小产线上料工序-放纸盒场景2/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/Tianqin_A2_place_the_paper_box + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: place_the_paper_box + dataset_uuid: null + task_descriptions: + - pick up the paper box and put it at the back. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + -operation_platform_height: null + device_model: + - ruantong_a2d + end_effector_type: two_finger_gripper + meta: + robot_type: ruantong_a2d + codebase_version: v2.1 + statistics: + total_episodes: 236 + total_frames: 94841 + total_tasks: 1 + total_videos: 708 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:235 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 17 + names: + - robot_joint_3_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 17 + names: + - robot_joint_3_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/alpha_bot_2_carry_the_clothes_basket.yaml b/dataset_info/alpha_bot_2_carry_the_clothes_basket.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3c93188e2965001699ec2a44b18c130310203139 --- /dev/null +++ b/dataset_info/alpha_bot_2_carry_the_clothes_basket.yaml @@ -0,0 +1,950 @@ +dataset_name: carry_the_clothes_basket +dataset_uuid: 0df48917-c10a-469f-8f74-d57f284c09cd +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: clothes_basket + level1: container + level2: clothes_basket + level3: null + level4: null + level5: null +path: alpha_bot_2_carry_the_clothes_basket +video_url: ./assets/videos/alpha_bot_2_carry_the_clothes_basket.mp4 +thumbnail_url: ./assets/thumbnails/alpha_bot_2_carry_the_clothes_basket.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 2.5GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: alpha_bot_2 +codebase_version: v2.1 +statistics: + total_episodes: 50 + total_frames: 46527 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:49 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_chest_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: carry the clothes basket in coordination with both hands. +sub_tasks: +- Move the basket above the other table +- Grasp the basket with both grippers +- Grasp the basket with left gripper +- Grasp the basket with right gripper +- End +- Place the basket on the table with right gripper +- Place the basket on the table with both grippers +- Place the basket on the table with left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_chest_rgb + name: cam_chest_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_head_rgb + name: cam_head_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_chest_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_head_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open +action_space: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "alpha_bot_2_carry_the_clothes_basket_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 578 + dataset_name: carry_the_clothes_basket + dataset_uuid: 0df48917-c10a-469f-8f74-d57f284c09cd + device_model: alpha_bot_2 + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/智平方/1k/采集任务/task_113_10项采集任务-双手协同搬运衣篓/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/alpha_bot_2_carry_the_clothes_basket + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: clothes_basket + level1: container + level2: clothes_basket + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: + dataset_name: carry_the_clothes_basket + dataset_uuid: null + task_descriptions: + - carry the clothes basket in coordination with both hands. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: clothes_basket + level1: container + level2: clothes_basket + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - ai² aiphabot 2 + end_effector_type: two_finger_gripper + meta: + robot_type: alpha_bot_2 + codebase_version: v2.1 + statistics: + total_episodes: 50 + total_frames: 46527 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:49 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_chest_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/alpha_bot_2_item_reversal.yaml b/dataset_info/alpha_bot_2_item_reversal.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1db6a8125306cabe871c5d266030fba3fdafa1e2 --- /dev/null +++ b/dataset_info/alpha_bot_2_item_reversal.yaml @@ -0,0 +1,959 @@ +dataset_name: item_reversal +dataset_uuid: aac569d8-dbc7-4128-a573-659adbe0ed51 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: cup + level1: kitchen_supplies + level2: cup + level3: null + level4: null + level5: null +path: alpha_bot_2_item_reversal +video_url: ./assets/videos/alpha_bot_2_item_reversal.mp4 +thumbnail_url: ./assets/thumbnails/alpha_bot_2_item_reversal.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 2.1GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: alpha_bot_2 +codebase_version: v2.1 +statistics: + total_episodes: 90 + total_frames: 82235 + total_tasks: 1 + total_videos: 360 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:89 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_chest_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: On the white table pick up the cup with one hand and transfer it to the other + hand before turning it over. +sub_tasks: +- Grasp the cup with left gripper +- Place the cup on the table with right gripper +- Pass the cup to the right gripper +- End +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_chest_rgb + name: cam_chest_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_head_rgb + name: cam_head_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_chest_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_head_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open +action_space: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "alpha_bot_2_item_reversal_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 581 + dataset_name: item_reversal + dataset_uuid: aac569d8-dbc7-4128-a573-659adbe0ed51 + device_model: alpha_bot_2 + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/智平方/1k/采集任务/task_108_双手传递物品反转/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/alpha_bot_2_item_reversal + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cup + level1: kitchen_supplies + level2: cup + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: + dataset_name: item_reversal + dataset_uuid: null + task_descriptions: + - on the white table pick up the cup wit your left hand and hand it to your right + hand then turn it over. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cup + level1: container + level2: cup + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - ai² aiphabot 2 + end_effector_type: two_finger_gripper + meta: + robot_type: alpha_bot_2 + codebase_version: v2.1 + statistics: + total_episodes: 90 + total_frames: 82235 + total_tasks: 1 + total_videos: 360 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:89 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_chest_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/alpha_bot_2_move_the_table.yaml b/dataset_info/alpha_bot_2_move_the_table.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ff895f13371eee8a8158276573cec489c759ecdf --- /dev/null +++ b/dataset_info/alpha_bot_2_move_the_table.yaml @@ -0,0 +1,938 @@ +dataset_name: move_the_table +dataset_uuid: 09e62222-abf5-4a90-a95b-91d15d99af82 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +path: alpha_bot_2_move_the_table +video_url: ./assets/videos/alpha_bot_2_move_the_table.mp4 +thumbnail_url: ./assets/thumbnails/alpha_bot_2_move_the_table.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 1.4GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: alpha_bot_2 +codebase_version: v2.1 +statistics: + total_episodes: 72 + total_frames: 50897 + total_tasks: 1 + total_videos: 288 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:71 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_chest_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: human machine collaborative table moving. +sub_tasks: +- End +- Move the table forward with both grippers +- Grasp the table with both grippers +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_chest_rgb + name: cam_chest_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_head_rgb + name: cam_head_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_chest_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_head_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open +action_space: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "alpha_bot_2_move_the_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 576 + dataset_name: move_the_table + dataset_uuid: 09e62222-abf5-4a90-a95b-91d15d99af82 + device_model: alpha_bot_2 + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/智平方/1k/采集任务/task_112_10项采集任务-人机协同搬运桌子/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/alpha_bot_2_move_the_table + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: + dataset_name: move_the_table + dataset_uuid: null + task_descriptions: + - human machine collaborative table moving. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - ai² aiphabot 2 + end_effector_type: two_finger_gripper + meta: + robot_type: alpha_bot_2 + codebase_version: v2.1 + statistics: + total_episodes: 72 + total_frames: 50897 + total_tasks: 1 + total_videos: 288 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:71 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_chest_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/alpha_bot_2_operate_the_microwave_oven.yaml b/dataset_info/alpha_bot_2_operate_the_microwave_oven.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c86862fb07f0d6a7b6c803b115d48a3365e65b8d --- /dev/null +++ b/dataset_info/alpha_bot_2_operate_the_microwave_oven.yaml @@ -0,0 +1,961 @@ +dataset_name: operate_the_microwave_oven +dataset_uuid: 6223c1d1-5efd-480c-8aa8-e1d4f14069f2 +scene_type: +- home +atomic_actions: +- pullapart +- pushtogether +- turn +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: microwave_oven + level1: kitchen_supplies + level2: microwave_oven + level3: null + level4: null + level5: null +path: alpha_bot_2_operate_the_microwave_oven +video_url: ./assets/videos/alpha_bot_2_operate_the_microwave_oven.mp4 +thumbnail_url: ./assets/thumbnails/alpha_bot_2_operate_the_microwave_oven.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 395.7MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: alpha_bot_2 +codebase_version: v2.1 +statistics: + total_episodes: 16 + total_frames: 16486 + total_tasks: 1 + total_videos: 64 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:15 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_chest_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: set the temperature of the microwave oven and turn it on. Open the door of + the microwave oven and then close it. +sub_tasks: +- Press the time button with right gripper +- Press the start button with right gripper +- End +- Press the switch with right gripper +- Close the microwave door with left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_chest_rgb + name: cam_chest_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_head_rgb + name: cam_head_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_chest_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_head_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open +action_space: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "alpha_bot_2_operate_the_microwave_oven_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 583 + dataset_name: operate_the_microwave_oven + dataset_uuid: 6223c1d1-5efd-480c-8aa8-e1d4f14069f2 + device_model: alpha_bot_2 + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/智平方/1k/操作微波炉/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/alpha_bot_2_operate_the_microwave_oven + scene_types: + - home + atomic_actions: + - pullapart + - pushtogether + - turn + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: microwave_oven + level1: kitchen_supplies + level2: microwave_oven + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: + dataset_name: operate_the_microwave_oven + task_descriptions: + - set the temperature of the microwave oven and turn it on. Open the door of the + microwave oven and then close it. + scene_type: + - home + atomic_actions: + - pullapart + - pushtogether + - turn + objects: + - object_name: microwave_oven + level1: kitchenware + level2: microwave_oven + level3: null + level4: null + level5: null + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - ai² aiphabot 2 + end_effector_type: two_finger_gripper + dataset_uuid: null + meta: + robot_type: alpha_bot_2 + codebase_version: v2.1 + statistics: + total_episodes: 16 + total_frames: 16486 + total_tasks: 1 + total_videos: 64 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:15 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_chest_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/alpha_bot_2_pass_the_sandbag.yaml b/dataset_info/alpha_bot_2_pass_the_sandbag.yaml new file mode 100644 index 0000000000000000000000000000000000000000..93393e42b096cb47fe157a0303582a8669ebd6de --- /dev/null +++ b/dataset_info/alpha_bot_2_pass_the_sandbag.yaml @@ -0,0 +1,958 @@ +dataset_name: pass_the_sandbag +dataset_uuid: 81e68aa6-8f11-4edf-9c00-cc322e4fc0c9 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: sandbag + level1: toy + level2: sandbag + level3: null + level4: null + level5: null +path: alpha_bot_2_pass_the_sandbag +video_url: ./assets/videos/alpha_bot_2_pass_the_sandbag.mp4 +thumbnail_url: ./assets/thumbnails/alpha_bot_2_pass_the_sandbag.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 2.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: alpha_bot_2 +codebase_version: v2.1 +statistics: + total_episodes: 86 + total_frames: 69956 + total_tasks: 1 + total_videos: 344 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:85 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_chest_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: One hand took the sandbag from the other hand and placed it on the table. +sub_tasks: +- Pass the paper ball to the right gripper +- End +- Place the paper ball on the table with right gripper +- Grasp the paper ball with left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_chest_rgb + name: cam_chest_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_head_rgb + name: cam_head_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_chest_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_head_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open +action_space: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "alpha_bot_2_pass_the_sandbag_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 580 + dataset_name: pass_the_sandbag + dataset_uuid: 81e68aa6-8f11-4edf-9c00-cc322e4fc0c9 + device_model: alpha_bot_2 + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/智平方/1k/采集任务/task_115_10项采集任务-双手传递沙包/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/alpha_bot_2_pass_the_sandbag + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: sandbag + level1: toy + level2: sandbag + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: + dataset_name: pass_the_sandbag + dataset_uuid: null + task_descriptions: + - the right hand took the sandbag from the left hand and placed it on the table. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: sandbag + level1: toy + level2: sandbag + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - ai² aiphabot 2 + end_effector_type: two_finger_gripper + meta: + robot_type: alpha_bot_2 + codebase_version: v2.1 + statistics: + total_episodes: 86 + total_frames: 69956 + total_tasks: 1 + total_videos: 344 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:85 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_chest_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/alpha_bot_2_press_the_button_a.yaml b/dataset_info/alpha_bot_2_press_the_button_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5327dcc25f5463878173069f601b2a589f43d9cb --- /dev/null +++ b/dataset_info/alpha_bot_2_press_the_button_a.yaml @@ -0,0 +1,968 @@ +dataset_name: press_the_button_a +dataset_uuid: f687e0d9-d736-45a4-89f6-ef7ff90a103a +scene_type: +- home +atomic_actions: +- pressbutton +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: button + level1: toy + level2: button + level3: null + level4: null + level5: null +- object_name: water_bottle + level1: beverages + level2: water_bottle + level3: null + level4: null + level5: null +path: alpha_bot_2_press_the_button_a +video_url: ./assets/videos/alpha_bot_2_press_the_button_a.mp4 +thumbnail_url: ./assets/thumbnails/alpha_bot_2_press_the_button_a.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 1.9GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: alpha_bot_2 +codebase_version: v2.1 +statistics: + total_episodes: 116 + total_frames: 91452 + total_tasks: 1 + total_videos: 464 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:115 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_chest_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: after avoiding the water bottle on the table, press the button. +sub_tasks: +- End +- Press the button blocked by the bottle with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_chest_rgb + name: cam_chest_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_head_rgb + name: cam_head_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_chest_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_head_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open +action_space: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "alpha_bot_2_press_the_button_a_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 579 + dataset_name: press_the_button_a + dataset_uuid: f687e0d9-d736-45a4-89f6-ef7ff90a103a + device_model: alpha_bot_2 + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/智平方/1k/遇到障碍物主动躲避/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/alpha_bot_2_press_the_button_a + scene_types: + - home + atomic_actions: + - pressbutton + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: button + level1: toy + level2: button + level3: null + level4: null + level5: null + - object_name: water_bottle + level1: beverages + level2: water_bottle + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: + dataset_name: press_the_button_a + task_descriptions: + - after avoiding the water bottle on the table, press the button. + scene_type: + - home + atomic_actions: + - pressbutton + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: water_bottle + level1: container + level2: water_bottle + level3: null + level4: null + level5: null + - object_name: button + level1: toy + level2: button + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - ai² aiphabot 2 + end_effector_type: two_finger_gripper + dataset_uuid: null + meta: + robot_type: alpha_bot_2 + codebase_version: v2.1 + statistics: + total_episodes: 116 + total_frames: 91452 + total_tasks: 1 + total_videos: 464 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:115 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_chest_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/alpha_bot_2_press_the_button_b.yaml b/dataset_info/alpha_bot_2_press_the_button_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1e266018f6d661ab1019bd6bb94ef39f4f884218 --- /dev/null +++ b/dataset_info/alpha_bot_2_press_the_button_b.yaml @@ -0,0 +1,953 @@ +dataset_name: press_the_button_b +dataset_uuid: 627d6f91-a0ba-46b7-96dd-616242c3a6af +scene_type: +- home +atomic_actions: +- pressbutton +- push +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: mineral_water + level1: drinks + level2: mineral_water + level3: null + level4: null + level5: null +- object_name: button + level1: toy + level2: button + level3: null + level4: null + level5: null +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +path: alpha_bot_2_press_the_button_b +video_url: ./assets/videos/alpha_bot_2_press_the_button_b.mp4 +thumbnail_url: ./assets/thumbnails/alpha_bot_2_press_the_button_b.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 943.7MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: alpha_bot_2 +codebase_version: v2.1 +statistics: + total_episodes: 65 + total_frames: 50921 + total_tasks: 1 + total_videos: 260 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:64 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_chest_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: after removing the water bottle from the table, press the button. +sub_tasks: +- Touch the bottle with left gripper +- End +- Move the bottle away with right gripper +- Abnormal +- Press the button with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_chest_rgb + name: cam_chest_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_head_rgb + name: cam_head_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_chest_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_head_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open +action_space: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "alpha_bot_2_press_the_button_b_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 1052 + dataset_name: press_the_button_b + dataset_uuid: 627d6f91-a0ba-46b7-96dd-616242c3a6af + device_model: alpha_bot_2 + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/智平方/1k/主动移除障碍物后继续作业/task_110_主动移除障碍物后继续作业-补采-1103/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/alpha_bot_2_press_the_button_b + scene_types: [] + atomic_actions: [] + objects: [] + total_episodes: null + yaml: + dataset_name: press_the_button_b + task_descriptions: + - after removing the water bottle from the table, press the button. + scene_type: + - home + atomic_actions: + - pressbutton + - push + objects: + - object_name: mineral_water + level1: drinks + level2: mineral_water + level3: null + level4: null + level5: null + - object_name: button + level1: toy + level2: button + level3: null + level4: null + level5: null + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - alpha_bot_2 + end_effector_type: two_finger_gripper + dataset_uuid: null + meta: + robot_type: alpha_bot_2 + codebase_version: v2.1 + statistics: + total_episodes: 65 + total_frames: 50921 + total_tasks: 1 + total_videos: 260 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:64 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_chest_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/alpha_bot_2_recover_after_touching_an_obstacle.yaml b/dataset_info/alpha_bot_2_recover_after_touching_an_obstacle.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d0d3c64fadfe323c526a1ed8cb5e29fa01ef390 --- /dev/null +++ b/dataset_info/alpha_bot_2_recover_after_touching_an_obstacle.yaml @@ -0,0 +1,975 @@ +dataset_name: recover_after_touching_an_obstacle +dataset_uuid: aebc9a40-0a90-4fc3-a705-fbc5c7d23392 +scene_type: +- home +atomic_actions: +- grasp +- pick +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: mineral_water + level1: drinks + level2: mineral_water + level3: null + level4: null + level5: null +- object_name: button + level1: toy + level2: button + level3: null + level4: null + level5: null +path: alpha_bot_2_recover_after_touching_an_obstacle +video_url: ./assets/videos/alpha_bot_2_recover_after_touching_an_obstacle.mp4 +thumbnail_url: ./assets/thumbnails/alpha_bot_2_recover_after_touching_an_obstacle.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 3.7GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: alpha_bot_2 +codebase_version: v2.1 +statistics: + total_episodes: 130 + total_frames: 128391 + total_tasks: 1 + total_videos: 520 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:129 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_chest_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: return to a safe position after touching an obstacle with your arm on the white + table. +sub_tasks: +- Touch the bottle with left gripper +- End +- Touch the bottle with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_chest_rgb + name: cam_chest_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_head_rgb + name: cam_head_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_chest_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_head_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open +action_space: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "alpha_bot_2_recover_after_touching_an_obstacle_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 577 + dataset_name: recover_after_touching_an_obstacle + dataset_uuid: aebc9a40-0a90-4fc3-a705-fbc5c7d23392 + device_model: alpha_bot_2 + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/智平方/1k/接触到障碍物快速恢复到安全位置/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/alpha_bot_2_recover_after_touching_an_obstacle + scene_types: + - home + atomic_actions: + - grasp + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: mineral_water + level1: drinks + level2: mineral_water + level3: null + level4: null + level5: null + - object_name: button + level1: toy + level2: button + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: + dataset_name: recover_after_touching_an_obstacle + task_descriptions: + - return to a safe position after touching an obstacle with your arm on the white + table. + scene_type: + - home + atomic_actions: + - pick + - grasp + - null + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: mineral_water + level1: drinks + level2: mineral_water + level3: null + level4: null + level5: null + - object_name: button + level1: toy + level2: button + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - ai² aiphabot 2 + end_effector_type: two_finger_gripper + dataset_uuid: null + meta: + robot_type: alpha_bot_2 + codebase_version: v2.1 + statistics: + total_episodes: 130 + total_frames: 128391 + total_tasks: 1 + total_videos: 520 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:129 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_chest_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/alpha_bot_2_stack_building_blocks.yaml b/dataset_info/alpha_bot_2_stack_building_blocks.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c3d85f541bc1ba65bd5ad9bdb88cce15014fb380 --- /dev/null +++ b/dataset_info/alpha_bot_2_stack_building_blocks.yaml @@ -0,0 +1,970 @@ +dataset_name: stack_building_blocks +dataset_uuid: f7781909-81c7-40ee-98a5-67783a48dc66 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: building_blocks + level1: toys + level2: building_blocks + level3: null + level4: null + level5: null +path: alpha_bot_2_stack_building_blocks +video_url: ./assets/videos/alpha_bot_2_stack_building_blocks.mp4 +thumbnail_url: ./assets/thumbnails/alpha_bot_2_stack_building_blocks.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 3.4GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: alpha_bot_2 +codebase_version: v2.1 +statistics: + total_episodes: 139 + total_frames: 130049 + total_tasks: 1 + total_videos: 556 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:138 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_chest_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: stack building blocks on the table. +sub_tasks: +- Grasp the blue building block with left gripper +- End +- Place the pink building block in the center of table with left gripper +- Grasp the pink building block with left gripper +- Place the blue building block on the pink building blocks with left gripper +- Grasp the green building block with left gripper +- Place the pink building block on the blue building blocks with right gripper +- Place the green block on the pink block with left gripper +- Place the blue building block on the blue building blocks with right gripper +- Place the blue building block on the pink building blocks with right gripper +- Grasp the blue building block with right gripper +- Place the pink building block on the blue building blocks with left gripper +- Place the blue building block on the blue building blocks with left gripper +- Grasp the pink building block with right gripper +- Place the pink block on the blue block with right gripper +- Place the blue building block in the center of table with left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_chest_rgb + name: cam_chest_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_head_rgb + name: cam_head_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_chest_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_head_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open +action_space: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "alpha_bot_2_stack_building_blocks_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 582 + dataset_name: stack_building_blocks + dataset_uuid: f7781909-81c7-40ee-98a5-67783a48dc66 + device_model: alpha_bot_2 + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/智平方/1k/采集任务/堆叠积木/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/alpha_bot_2_stack_building_blocks + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: building_blocks + level1: toys + level2: building_blocks + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: + dataset_name: stack_building_blocks + dataset_uuid: null + task_descriptions: + - stack building blocks on the table. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: building_blocks + level1: toy + level2: building_blocks + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - ai² aiphabot 2 + end_effector_type: two_finger_gripper + meta: + robot_type: alpha_bot_2 + codebase_version: v2.1 + statistics: + total_episodes: 139 + total_frames: 130049 + total_tasks: 1 + total_videos: 556 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:138 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_chest_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/alpha_bot_2_sticker.yaml b/dataset_info/alpha_bot_2_sticker.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d6c62008b936760ec95ef47d479aab86e100f14c --- /dev/null +++ b/dataset_info/alpha_bot_2_sticker.yaml @@ -0,0 +1,955 @@ +dataset_name: sticker +dataset_uuid: 81aee7b0-84c3-4b85-9778-c5c9df188afd +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- two_finger_gripper +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: poster + level1: toy + level2: poster + level3: null + level4: null + level5: null +path: alpha_bot_2_sticker +video_url: ./assets/videos/alpha_bot_2_sticker.mp4 +thumbnail_url: ./assets/thumbnails/alpha_bot_2_sticker.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 1.9GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: alpha_bot_2 +codebase_version: v2.1 +statistics: + total_episodes: 93 + total_frames: 97993 + total_tasks: 1 + total_videos: 372 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:92 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.cam_chest_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +tasks: stick the poster on the table by hand. +sub_tasks: +- End +- Stick the advertisement in the top-right corner area with both grippers +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.cam_chest_rgb + name: cam_chest_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_head_rgb + name: cam_head_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_left_wrist_rgb + name: cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +- key: observation.images.cam_right_wrist_rgb + name: cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + resolution: + - 480 + - 640 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.cam_chest_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_head_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_left_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + - key: observation.images.cam_right_wrist_rgb + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open +action_space: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "alpha_bot_2_sticker_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 575 + dataset_name: sticker + dataset_uuid: 81aee7b0-84c3-4b85-9778-c5c9df188afd + device_model: alpha_bot_2 + end_effector_type: two_finger_gripper + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/智平方/1k/贴条/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/alpha_bot_2_sticker + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: poster + level1: toy + level2: poster + level3: null + level4: null + level5: null + total_episodes: 0 + yaml: + dataset_name: sticker + task_descriptions: + - stick the poster on the table by hand. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: poster + level1: toy + level2: poster + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - ai² aiphabot 2 + end_effector_type: two_finger_gripper + dataset_uuid: null + meta: + robot_type: alpha_bot_2 + codebase_version: v2.1 + statistics: + total_episodes: 93 + total_frames: 97993 + total_tasks: 1 + total_videos: 372 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:92 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.cam_chest_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_box_storage_parcel.yaml b/dataset_info/leju_robot_box_storage_parcel.yaml new file mode 100644 index 0000000000000000000000000000000000000000..32361895099f330a14597575c0b0544099fefb71 --- /dev/null +++ b/dataset_info/leju_robot_box_storage_parcel.yaml @@ -0,0 +1,1217 @@ +dataset_name: box_storage_parcel +dataset_uuid: b6a8ebae-9a8f-44c4-a7a1-7893c558480b +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +- object_name: parcel + level1: container + level2: parcel + level3: null + level4: null + level5: null +- object_name: conveyor_belt + level1: industrial_equipment + level2: conveyor_belt + level3: null + level4: null + level5: null +path: leju_robot_box_storage_parcel +video_url: ./assets/videos/leju_robot_box_storage_parcel.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_box_storage_parcel.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 27.2GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 443 + total_frames: 537851 + total_tasks: 1 + total_videos: 1329 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:442 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: moved the parcel from conveyor to table for the left to box. +sub_tasks: +- Grasp the package on the scanner with left gripper +- Abnormal +- Put the parcel inside the courier box. +- Place the parcel onto the inbound machine. +- Place the parcel into the delivery box. +- Grasp the package on the conveyor belt with right gripper +- Place the package in the green box with left gripper +- End +- Pick up the parcel from the conveyor belt. +- Take the parcel off the conveyor belt. +- Place the package on the scanner with right gripper +- Pick up the parcel from the inbound machine. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_box_storage_parcel_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 371 + dataset_name: box_storage_parcel + dataset_uuid: b6a8ebae-9a8f-44c4-a7a1-7893c558480b + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/3C_factory/3C_factory_manufacturing/Scan_code_for_weighing/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_box_storage_parcel + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + - object_name: parcel + level1: container + level2: parcel + level3: null + level4: null + level5: null + - object_name: conveyor_belt + level1: industrial_equipment + level2: conveyor_belt + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: box_storage_parcel + dataset_uuid: null + task_descriptions: + - moved the parcel from conveyor to table for the left to box. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: parcel + level1: container + level2: parcel + level3: null + level4: null + level5: null + - object_name: conveyor_belt + level1: tool + level2: conveyor_belt + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_robot + end_effector_type: two_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 443 + total_frames: 537851 + total_tasks: 1 + total_videos: 1329 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:442 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_box_storage_parcel_a.yaml b/dataset_info/leju_robot_box_storage_parcel_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..94571a3150254c3ab98f40d09512920cea0cfc05 --- /dev/null +++ b/dataset_info/leju_robot_box_storage_parcel_a.yaml @@ -0,0 +1,1210 @@ +dataset_name: box_storage_parcel_a +dataset_uuid: 58a31ae7-afbc-4d56-953d-6df89f8c1ba5 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +- object_name: parcel + level1: container + level2: parcel + level3: null + level4: null + level5: null +- object_name: conveyor_belt + level1: industrial_equipment + level2: conveyor_belt + level3: null + level4: null + level5: null +path: leju_robot_box_storage_parcel_a +video_url: ./assets/videos/leju_robot_box_storage_parcel_a.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_box_storage_parcel_a.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 9.7GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 493 + total_frames: 189545 + total_tasks: 1 + total_videos: 1479 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:492 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: moved the parcel from conveyor to table for the left to box. +sub_tasks: +- Place the package into the parcel locker. +- Pick up the package from the inbound machine. +- Pick up the package from the conveyor belt. +- Place the package onto the inbound machine. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_box_storage_parcel_a_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 544 + dataset_name: box_storage_parcel_a + dataset_uuid: 58a31ae7-afbc-4d56-953d-6df89f8c1ba5 + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/single_scan_code_for_weighing/hotel_services_a/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_box_storage_parcel_a + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + - object_name: parcel + level1: container + level2: parcel + level3: null + level4: null + level5: null + - object_name: conveyor_belt + level1: industrial_equipment + level2: conveyor_belt + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: box_storage_parcel_a + dataset_uuid: null + task_descriptions: + - move the parcel with right hand from conveyor to table and then move the parcel + to the left box with left hand. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: parcel + level1: container + level2: parcel + level3: null + level4: null + level5: null + - object_name: conveyor_belt + level1: tool + level2: conveyor_belt + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_kuavo_4_pro + end_effector_type: five_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 493 + total_frames: 189545 + total_tasks: 1 + total_videos: 1479 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:492 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_box_storage_parcel_b.yaml b/dataset_info/leju_robot_box_storage_parcel_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..eda5f5f8de5e2e68d02192b57615612d0fc8b451 --- /dev/null +++ b/dataset_info/leju_robot_box_storage_parcel_b.yaml @@ -0,0 +1,1210 @@ +dataset_name: box_storage_parcel_b +dataset_uuid: 5e55ad50-424b-4a78-9d00-e0d7a45f48f7 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +- object_name: parcel + level1: container + level2: parcel + level3: null + level4: null + level5: null +- object_name: conveyor_belt + level1: industrial_equipment + level2: conveyor_belt + level3: null + level4: null + level5: null +path: leju_robot_box_storage_parcel_b +video_url: ./assets/videos/leju_robot_box_storage_parcel_b.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_box_storage_parcel_b.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 9.5GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 497 + total_frames: 186311 + total_tasks: 1 + total_videos: 1491 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:496 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: moved the parcel from conveyor to table for the left to box. +sub_tasks: +- Place the package into the parcel locker. +- Pick up the package from the inbound machine. +- Pick up the package from the conveyor belt. +- Place the package onto the inbound machine. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_box_storage_parcel_b_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 542 + dataset_name: box_storage_parcel_b + dataset_uuid: 5e55ad50-424b-4a78-9d00-e0d7a45f48f7 + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/single_scan_code_for_weighing/hotel_services_b/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_box_storage_parcel_b + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + - object_name: parcel + level1: container + level2: parcel + level3: null + level4: null + level5: null + - object_name: conveyor_belt + level1: industrial_equipment + level2: conveyor_belt + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: box_storage_parcel_b + dataset_uuid: null + task_descriptions: + - move the parcel with right hand from conveyor to table and then move the parcel + to the left box with left hand. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: parcel + level1: container + level2: parcel + level3: null + level4: null + level5: null + - object_name: conveyor_belt + level1: tool + level2: conveyor_belt + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_kuavo_4_pro + end_effector_type: five_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 497 + total_frames: 186311 + total_tasks: 1 + total_videos: 1491 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:496 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_box_storage_parcel_c.yaml b/dataset_info/leju_robot_box_storage_parcel_c.yaml new file mode 100644 index 0000000000000000000000000000000000000000..72b9eae78df1124872a613567fb5f580702e967e --- /dev/null +++ b/dataset_info/leju_robot_box_storage_parcel_c.yaml @@ -0,0 +1,1210 @@ +dataset_name: box_storage_parcel_c +dataset_uuid: 3c05a32c-9807-467b-b1a5-2f7f3fe27928 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +- object_name: parcel + level1: container + level2: parcel + level3: null + level4: null + level5: null +- object_name: conveyor_belt + level1: industrial_equipment + level2: conveyor_belt + level3: null + level4: null + level5: null +path: leju_robot_box_storage_parcel_c +video_url: ./assets/videos/leju_robot_box_storage_parcel_c.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_box_storage_parcel_c.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 9.6GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 493 + total_frames: 187995 + total_tasks: 1 + total_videos: 1479 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:492 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Weigh the package on the weighing device and place it in the left basket. +sub_tasks: +- Place the package onto the inbound machine. +- Place the package into the parcel locker. +- Pick up the package from the inbound machine. +- Pick up the package from the conveyor belt. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_box_storage_parcel_c_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 545 + dataset_name: box_storage_parcel_c + dataset_uuid: 3c05a32c-9807-467b-b1a5-2f7f3fe27928 + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/single_scan_code_for_weighing/hotel_services_c/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_box_storage_parcel_c + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + - object_name: parcel + level1: container + level2: parcel + level3: null + level4: null + level5: null + - object_name: conveyor_belt + level1: industrial_equipment + level2: conveyor_belt + level3: null + level4: null + level5: null + total_episodes: 500 + yaml: + dataset_name: box_storage_parcel_c + dataset_uuid: null + task_descriptions: + - move the parcel with right hand from conveyor to table and then move the parcel + to the left box with left hand. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: parcel + level1: container + level2: parcel + level3: null + level4: null + level5: null + - object_name: conveyor_belt + level1: tool + level2: conveyor_belt + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_kuavo_4_pro + end_effector_type: five_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 493 + total_frames: 187995 + total_tasks: 1 + total_videos: 1479 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:492 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_box_storage_parcel_d.yaml b/dataset_info/leju_robot_box_storage_parcel_d.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8fa4918cd18147146392c26105f7d02ba580c921 --- /dev/null +++ b/dataset_info/leju_robot_box_storage_parcel_d.yaml @@ -0,0 +1,1173 @@ +dataset_name: box_storage_parcel_d +dataset_uuid: a24f0c02-18b7-4770-8ed1-41d5db2ba6d8 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +- object_name: parcel + level1: container + level2: parcel + level3: null + level4: null + level5: null +- object_name: conveyor_belt + level1: industrial_equipment + level2: conveyor_belt + level3: null + level4: null + level5: null +path: leju_robot_box_storage_parcel_d +video_url: ./assets/videos/leju_robot_box_storage_parcel_d.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_box_storage_parcel_d.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 18.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 212 + total_frames: 288956 + total_tasks: 1 + total_videos: 636 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:211 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: moved the parcel from conveyor to table for the left to box. +sub_tasks: +- Pass the laundry detergent to the left gripper +- Pick up the fast-moving consumer goods bottle from the table. +- Take the fast-moving consumer goods bottle from the table. +- Abnormal +- Grasp the laundry detergent with right gripper +- Place the laundry detergent on the yellow rubber mat with left gripper +- Flip the fast-moving consumer goods bottle to the front side. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_box_storage_parcel_d_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 551 + dataset_name: box_storage_parcel_d + dataset_uuid: a24f0c02-18b7-4770-8ed1-41d5db2ba6d8 + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/more_FMCG_loading/hotel_services_d/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_box_storage_parcel_d + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + - object_name: parcel + level1: container + level2: parcel + level3: null + level4: null + level5: null + - object_name: conveyor_belt + level1: industrial_equipment + level2: conveyor_belt + level3: null + level4: null + level5: null + total_episodes: null + yaml: {} + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 212 + total_frames: 288956 + total_tasks: 1 + total_videos: 636 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:211 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_box_storage_parcel_f.yaml b/dataset_info/leju_robot_box_storage_parcel_f.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0a144bdb042ee378ba9365953a8bd319e56ac952 --- /dev/null +++ b/dataset_info/leju_robot_box_storage_parcel_f.yaml @@ -0,0 +1,1209 @@ +dataset_name: box_storage_parcel_f +dataset_uuid: 52fd6211-f929-4608-b45d-501557f97fc8 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +- object_name: parcel + level1: container + level2: parcel + level3: null + level4: null + level5: null +- object_name: conveyor_belt + level1: industrial_equipment + level2: conveyor_belt + level3: null + level4: null + level5: null +path: leju_robot_box_storage_parcel_f +video_url: ./assets/videos/leju_robot_box_storage_parcel_f.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_box_storage_parcel_f.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 9.5GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 497 + total_frames: 185943 + total_tasks: 1 + total_videos: 1491 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:496 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: moved the parcel from conveyor to table for the left to box. +sub_tasks: +- Place the package into the parcel locker. +- Pick up the package from the inbound machine. +- Pick up the package from the conveyor belt. +- Place the package onto the inbound machine. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_box_storage_parcel_f_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 550 + dataset_name: box_storage_parcel_f + dataset_uuid: 52fd6211-f929-4608-b45d-501557f97fc8 + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/single_scan_code_for_weighing/hotel_services_f/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_box_storage_parcel_f + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + - object_name: parcel + level1: container + level2: parcel + level3: null + level4: null + level5: null + - object_name: conveyor_belt + level1: industrial_equipment + level2: conveyor_belt + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: box_storage_parcel_f + dataset_uuid: null + task_descriptions: + - moved the parcel from conveyor to table for the left to box. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: parcel + level1: container + level2: parcel + level3: null + level4: null + level5: null + - object_name: conveyor_belt + level1: tool + level2: conveyor_belt + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_robot + end_effector_type: two_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 497 + total_frames: 185943 + total_tasks: 1 + total_videos: 1491 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:496 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_box_storage_parcel_g.yaml b/dataset_info/leju_robot_box_storage_parcel_g.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9a340622547dec9366e3ab9a0948e02ed8513c6e --- /dev/null +++ b/dataset_info/leju_robot_box_storage_parcel_g.yaml @@ -0,0 +1,1210 @@ +dataset_name: box_storage_parcel_g +dataset_uuid: 1b130f08-2c4e-4724-ad03-8ecda43684fd +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +- object_name: parcel + level1: container + level2: parcel + level3: null + level4: null + level5: null +- object_name: conveyor_belt + level1: industrial_equipment + level2: conveyor_belt + level3: null + level4: null + level5: null +path: leju_robot_box_storage_parcel_g +video_url: ./assets/videos/leju_robot_box_storage_parcel_g.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_box_storage_parcel_g.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 9.4GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 492 + total_frames: 182793 + total_tasks: 1 + total_videos: 1476 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:491 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: moved the parcel from conveyor to table for the left to box. +sub_tasks: +- Place the package into the parcel locker. +- Pick up the package from the inbound machine. +- Pick up the package from the conveyor belt. +- Place the package onto the inbound machine. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_box_storage_parcel_g_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 547 + dataset_name: box_storage_parcel_g + dataset_uuid: 1b130f08-2c4e-4724-ad03-8ecda43684fd + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/single_scan_code_for_weighing/hotel_services_g/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_box_storage_parcel_g + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + - object_name: parcel + level1: container + level2: parcel + level3: null + level4: null + level5: null + - object_name: conveyor_belt + level1: industrial_equipment + level2: conveyor_belt + level3: null + level4: null + level5: null + total_episodes: 500 + yaml: + dataset_name: box_storage_parcel_g + dataset_uuid: null + task_descriptions: + - move the parcel with right hand from conveyor to table and then move the parcel + to the left box with left hand. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: parcel + level1: container + level2: parcel + level3: null + level4: null + level5: null + - object_name: conveyor_belt + level1: tool + level2: conveyor_belt + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_kuavo_4_pro + end_effector_type: five_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 492 + total_frames: 182793 + total_tasks: 1 + total_videos: 1476 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:491 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_box_storage_parcel_h.yaml b/dataset_info/leju_robot_box_storage_parcel_h.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fe5bc7e0c285ac0ac2a36a933ab36ff354ecf4d8 --- /dev/null +++ b/dataset_info/leju_robot_box_storage_parcel_h.yaml @@ -0,0 +1,1210 @@ +dataset_name: box_storage_parcel_h +dataset_uuid: 6dd99999-811b-4ae1-aac2-7a5b81087eaa +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +- object_name: parcel + level1: container + level2: parcel + level3: null + level4: null + level5: null +- object_name: conveyor_belt + level1: industrial_equipment + level2: conveyor_belt + level3: null + level4: null + level5: null +path: leju_robot_box_storage_parcel_h +video_url: ./assets/videos/leju_robot_box_storage_parcel_h.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_box_storage_parcel_h.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 7.7GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 389 + total_frames: 149279 + total_tasks: 1 + total_videos: 1167 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:388 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: moved the parcel from conveyor to table for the left to box. +sub_tasks: +- Place the package into the parcel locker. +- Pick up the package from the inbound machine. +- Pick up the package from the conveyor belt. +- Place the package onto the inbound machine. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_box_storage_parcel_h_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 548 + dataset_name: box_storage_parcel_h + dataset_uuid: 6dd99999-811b-4ae1-aac2-7a5b81087eaa + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/single_scan_code_for_weighing/hotel_services_h/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_box_storage_parcel_h + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + - object_name: parcel + level1: container + level2: parcel + level3: null + level4: null + level5: null + - object_name: conveyor_belt + level1: industrial_equipment + level2: conveyor_belt + level3: null + level4: null + level5: null + total_episodes: 395 + yaml: + dataset_name: box_storage_parcel_h + dataset_uuid: null + task_descriptions: + - move the parcel with right hand from conveyor to table and then move the parcel + to the left box with left hand. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: parcel + level1: container + level2: parcel + level3: null + level4: null + level5: null + - object_name: conveyor_belt + level1: tool + level2: conveyor_belt + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_kuavo_4_pro + end_effector_type: five_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 389 + total_frames: 149279 + total_tasks: 1 + total_videos: 1167 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:388 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_box_storage_parcel_i.yaml b/dataset_info/leju_robot_box_storage_parcel_i.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c7e7b666ae9f14813da191ad62e8010d9d67d46b --- /dev/null +++ b/dataset_info/leju_robot_box_storage_parcel_i.yaml @@ -0,0 +1,1208 @@ +dataset_name: box_storage_parcel_i +dataset_uuid: 6e0f6aaf-d447-436f-bfc3-bedd5a1bce04 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +- object_name: parcel + level1: container + level2: parcel + level3: null + level4: null + level5: null +- object_name: conveyor_belt + level1: industrial_equipment + level2: conveyor_belt + level3: null + level4: null + level5: null +path: leju_robot_box_storage_parcel_i +video_url: ./assets/videos/leju_robot_box_storage_parcel_i.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_box_storage_parcel_i.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 19.3GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 222 + total_frames: 313461 + total_tasks: 1 + total_videos: 666 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:221 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Pick up the bottle on the table and put it into the conveyor belt. +sub_tasks: +- Pick up the bottle from the table. +- Flip the bottle to face forward. +- Take the bottle from the table. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_box_storage_parcel_i_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 553 + dataset_name: box_storage_parcel_i + dataset_uuid: 6e0f6aaf-d447-436f-bfc3-bedd5a1bce04 + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/more_FMCG_loading/hotel_services_i/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_box_storage_parcel_i + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + - object_name: parcel + level1: container + level2: parcel + level3: null + level4: null + level5: null + - object_name: conveyor_belt + level1: industrial_equipment + level2: conveyor_belt + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: box_storage_parcel_i + dataset_uuid: null + task_descriptions: + - moved the parcel from conveyor to table for the left to box. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: parcel + level1: container + level2: parcel + level3: null + level4: null + level5: null + - object_name: conveyor_belt + level1: tool + level2: conveyor_belt + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_robot + end_effector_type: two_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 222 + total_frames: 313461 + total_tasks: 1 + total_videos: 666 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:221 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_box_storage_parcel_j.yaml b/dataset_info/leju_robot_box_storage_parcel_j.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bc9d351514607a40f20adfc75b9b7c33505140d5 --- /dev/null +++ b/dataset_info/leju_robot_box_storage_parcel_j.yaml @@ -0,0 +1,1197 @@ +dataset_name: box_storage_parcel_j +dataset_uuid: a9028fc5-d827-45d1-a2a9-31593becbf59 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +- object_name: parcel + level1: container + level2: parcel + level3: null + level4: null + level5: null +- object_name: conveyor_belt + level1: industrial_equipment + level2: conveyor_belt + level3: null + level4: null + level5: null +path: leju_robot_box_storage_parcel_j +video_url: ./assets/videos/leju_robot_box_storage_parcel_j.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_box_storage_parcel_j.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 20.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 226 + total_frames: 322063 + total_tasks: 1 + total_videos: 678 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:225 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: moved the parcel from conveyor to table for the left to box. +sub_tasks: +- Take the fast-moving consumer goods bottle from the table. +- Pick up the fast-moving consumer goods bottle from the table. +- Flip the fast-moving consumer goods bottle to the front side. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_box_storage_parcel_j_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 552 + dataset_name: box_storage_parcel_j + dataset_uuid: a9028fc5-d827-45d1-a2a9-31593becbf59 + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/more_FMCG_loading/hotel_services_j/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_box_storage_parcel_j + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + - object_name: parcel + level1: container + level2: parcel + level3: null + level4: null + level5: null + - object_name: conveyor_belt + level1: industrial_equipment + level2: conveyor_belt + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: pass_the_cleaner_h + dataset_uuid: null + task_descriptions: + - pick up the cleaner with right hand and pass it to left hand then put it on + the table. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cleaner + level1: daily_necessities + level2: cleaner + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_kuavo_4_lb + end_effector_type: five_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 226 + total_frames: 322063 + total_tasks: 1 + total_videos: 678 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:225 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_hotel_services_a.yaml b/dataset_info/leju_robot_hotel_services_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c88776233c6ce9b35617b2861866c4774a2c7b4d --- /dev/null +++ b/dataset_info/leju_robot_hotel_services_a.yaml @@ -0,0 +1,1212 @@ +dataset_name: hotel_services_a +dataset_uuid: 3e695119-00a0-4747-9da8-d491e6035ee1 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +- object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null +- object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null +path: leju_robot_hotel_services_a +video_url: ./assets/videos/leju_robot_hotel_services_a.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_hotel_services_a.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 15.7GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 340 + total_frames: 234607 + total_tasks: 1 + total_videos: 1020 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:339 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take out the card place it on the sensor for recognition and then transfer + it. +sub_tasks: +- Hand the room key to the person. +- Place the ID card on the card reader. +- Take the ID card from the person's hand. +- Pick up the room key from the key card box. +- Hand the ID card to the person. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_hotel_services_a_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 541 + dataset_name: hotel_services_a + dataset_uuid: 3e695119-00a0-4747-9da8-d491e6035ee1 + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/front_desk_b/customer_check_in/hotel_services_a/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_hotel_services_a + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + - object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null + - object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null + total_episodes: 500 + yaml: + dataset_name: hotel_services_a + dataset_uuid: null + task_descriptions: + - take identity card and place it on card reader then give identity card and room + card to human. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: card_reader + level1: electronic_products + level2: card_reader + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_kuavo_4_pro + end_effector_type: five_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 340 + total_frames: 234607 + total_tasks: 1 + total_videos: 1020 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:339 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_hotel_services_aa.yaml b/dataset_info/leju_robot_hotel_services_aa.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7045d3fc4f9a8a86e46c80837240a2e6ca37560a --- /dev/null +++ b/dataset_info/leju_robot_hotel_services_aa.yaml @@ -0,0 +1,1211 @@ +dataset_name: hotel_services_aa +dataset_uuid: dcd0025f-866e-4a2c-8898-6bf7dc424bc2 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +- object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null +- object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null +path: leju_robot_hotel_services_aa +video_url: ./assets/videos/leju_robot_hotel_services_aa.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_hotel_services_aa.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 4.5GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 419 + total_frames: 70570 + total_tasks: 1 + total_videos: 1257 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:418 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take out the card place it on the sensor for recognition and then transfer + it. +sub_tasks: +- End +- Take out the room card with right gripper +- Hand the room card to the guest with right gripper +- Hand the room card to the target. +- Pick up the room card from the card holder. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_hotel_services_aa_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 527 + dataset_name: hotel_services_aa + dataset_uuid: dcd0025f-866e-4a2c-8898-6bf7dc424bc2 + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/hotel_services_wy/hotel_services/front_desk/deliver_room_card/hotel_services_aa/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_hotel_services_aa + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + - object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null + - object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null + total_episodes: 500 + yaml: + dataset_name: hotel_services_aa + dataset_uuid: null + task_descriptions: + - pick room card from front box and give room card. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_kuavo_4_pro + end_effector_type: five_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 419 + total_frames: 70570 + total_tasks: 1 + total_videos: 1257 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:418 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_hotel_services_ab.yaml b/dataset_info/leju_robot_hotel_services_ab.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d3fb315308432ae86fa97baf180468dfc8a635f8 --- /dev/null +++ b/dataset_info/leju_robot_hotel_services_ab.yaml @@ -0,0 +1,1211 @@ +dataset_name: hotel_services_ab +dataset_uuid: e7a6fa76-d4ee-4f1a-b951-26d50fb71f0d +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +- object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null +- object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null +path: leju_robot_hotel_services_ab +video_url: ./assets/videos/leju_robot_hotel_services_ab.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_hotel_services_ab.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 5.2GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 450 + total_frames: 81123 + total_tasks: 1 + total_videos: 1350 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:449 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take out the card place it on the sensor for recognition and then transfer + it. +sub_tasks: +- End +- Take out the room card with right gripper +- Hand the room card to the guest with right gripper +- Hand the room card to the target. +- Pick up the room card from the card holder. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_hotel_services_ab_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 525 + dataset_name: hotel_services_ab + dataset_uuid: e7a6fa76-d4ee-4f1a-b951-26d50fb71f0d + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/hotel_services_wy/hotel_services/front_desk/deliver_room_card/hotel_services_ab/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_hotel_services_ab + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + - object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null + - object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: hotel_services_ab + dataset_uuid: null + task_descriptions: + - pick room card from front box and give room card. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_kuavo_4_pro + end_effector_type: five_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 450 + total_frames: 81123 + total_tasks: 1 + total_videos: 1350 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:449 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_hotel_services_ac.yaml b/dataset_info/leju_robot_hotel_services_ac.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7bb85fa33725875a651c4cee1e8a0eac90fe117e --- /dev/null +++ b/dataset_info/leju_robot_hotel_services_ac.yaml @@ -0,0 +1,1208 @@ +dataset_name: hotel_services_ac +dataset_uuid: ff64c171-6616-4c0a-9876-42719e539bbf +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +- object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null +- object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null +path: leju_robot_hotel_services_ac +video_url: ./assets/videos/leju_robot_hotel_services_ac.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_hotel_services_ac.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 4.7GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 431 + total_frames: 73697 + total_tasks: 1 + total_videos: 1293 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:430 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take out the card place it on the sensor for recognition and then transfer + it. +sub_tasks: +- Pick up the key card from the card box. +- Hand the key card to the target. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_hotel_services_ac_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 531 + dataset_name: hotel_services_ac + dataset_uuid: ff64c171-6616-4c0a-9876-42719e539bbf + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/hotel_services_wy/hotel_services/front_desk/deliver_room_card/hotel_services_ac/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_hotel_services_ac + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + - object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null + - object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null + total_episodes: 500 + yaml: + dataset_name: hotel_services_ac + dataset_uuid: null + task_descriptions: + - pick room card from front box and give room card. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_kuavo_4_pro + end_effector_type: five_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 431 + total_frames: 73697 + total_tasks: 1 + total_videos: 1293 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:430 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_hotel_services_ad.yaml b/dataset_info/leju_robot_hotel_services_ad.yaml new file mode 100644 index 0000000000000000000000000000000000000000..656c6c909e350a238dc0bd34d0e49b4f8e148f03 --- /dev/null +++ b/dataset_info/leju_robot_hotel_services_ad.yaml @@ -0,0 +1,1211 @@ +dataset_name: hotel_services_ad +dataset_uuid: 1bbfd926-a183-40a4-8649-0b9958b0ffcf +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +- object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null +- object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null +path: leju_robot_hotel_services_ad +video_url: ./assets/videos/leju_robot_hotel_services_ad.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_hotel_services_ad.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 4.7GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 430 + total_frames: 73346 + total_tasks: 1 + total_videos: 1290 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:429 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take out the card place it on the sensor for recognition and then transfer + it. +sub_tasks: +- End +- Take out the room card with right gripper +- Hand the room card to the guest with right gripper +- Hand the room card to the target. +- Pick up the room card from the card holder. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_hotel_services_ad_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 535 + dataset_name: hotel_services_ad + dataset_uuid: 1bbfd926-a183-40a4-8649-0b9958b0ffcf + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/hotel_services_wy/hotel_services/front_desk/deliver_room_card/hotel_services_ad/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_hotel_services_ad + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + - object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null + - object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null + total_episodes: 500 + yaml: + dataset_name: hotel_services_ad + dataset_uuid: null + task_descriptions: + - pick room card from front box and give room card. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_kuavo_4_pro + end_effector_type: five_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 430 + total_frames: 73346 + total_tasks: 1 + total_videos: 1290 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:429 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_hotel_services_ae.yaml b/dataset_info/leju_robot_hotel_services_ae.yaml new file mode 100644 index 0000000000000000000000000000000000000000..de0b1be1dc64192a49e318fb9f590fa4dcbf423b --- /dev/null +++ b/dataset_info/leju_robot_hotel_services_ae.yaml @@ -0,0 +1,1208 @@ +dataset_name: hotel_services_ae +dataset_uuid: 91537f29-b5ac-455f-bfdf-78d671e6f66d +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +- object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null +- object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null +path: leju_robot_hotel_services_ae +video_url: ./assets/videos/leju_robot_hotel_services_ae.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_hotel_services_ae.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 5.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 449 + total_frames: 78394 + total_tasks: 1 + total_videos: 1347 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:448 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take out the card place it on the sensor for recognition and then transfer + it. +sub_tasks: +- Pick up the key card from the card box. +- Hand the key card to the target. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_hotel_services_ae_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 528 + dataset_name: hotel_services_ae + dataset_uuid: 91537f29-b5ac-455f-bfdf-78d671e6f66d + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/hotel_services_wy/hotel_services/front_desk/deliver_room_card/hotel_services_ae/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_hotel_services_ae + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + - object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null + - object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null + total_episodes: 500 + yaml: + dataset_name: hotel_services_ae + dataset_uuid: null + task_descriptions: + - pick room card from front box and give room card. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_kuavo_4_pro + end_effector_type: five_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 449 + total_frames: 78394 + total_tasks: 1 + total_videos: 1347 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:448 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_hotel_services_af.yaml b/dataset_info/leju_robot_hotel_services_af.yaml new file mode 100644 index 0000000000000000000000000000000000000000..500ef74bd5b0c7f2817430f61d0eb5499db6369f --- /dev/null +++ b/dataset_info/leju_robot_hotel_services_af.yaml @@ -0,0 +1,1208 @@ +dataset_name: hotel_services_af +dataset_uuid: 454ce503-1811-4c2a-9a2d-e6c284efa8e3 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +- object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null +- object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null +path: leju_robot_hotel_services_af +video_url: ./assets/videos/leju_robot_hotel_services_af.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_hotel_services_af.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 4.9GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 437 + total_frames: 77713 + total_tasks: 1 + total_videos: 1311 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:436 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take out the card place it on the sensor for recognition and then transfer + it. +sub_tasks: +- Pick up the key card from the card box. +- Hand the key card to the target. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_hotel_services_af_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 530 + dataset_name: hotel_services_af + dataset_uuid: 454ce503-1811-4c2a-9a2d-e6c284efa8e3 + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/hotel_services_wy/hotel_services/front_desk/deliver_room_card/hotel_services_af/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_hotel_services_af + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + - object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null + - object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null + total_episodes: 500 + yaml: + dataset_name: hotel_services_af + dataset_uuid: null + task_descriptions: + - pick room card from front box and give room card. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_kuavo_4_pro + end_effector_type: five_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 437 + total_frames: 77713 + total_tasks: 1 + total_videos: 1311 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:436 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_hotel_services_ag.yaml b/dataset_info/leju_robot_hotel_services_ag.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a2c4bf5c382df6c2a23764de0a18730335531b94 --- /dev/null +++ b/dataset_info/leju_robot_hotel_services_ag.yaml @@ -0,0 +1,1208 @@ +dataset_name: hotel_services_ag +dataset_uuid: fe6eebfa-58f5-4409-aad8-bc8aa39381cc +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +- object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null +- object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null +path: leju_robot_hotel_services_ag +video_url: ./assets/videos/leju_robot_hotel_services_ag.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_hotel_services_ag.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 4.6GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 428 + total_frames: 72556 + total_tasks: 1 + total_videos: 1284 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:427 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take out the card place it on the sensor for recognition and then transfer + it. +sub_tasks: +- Pick up the key card from the card box. +- Hand the key card to the target. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_hotel_services_ag_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 532 + dataset_name: hotel_services_ag + dataset_uuid: fe6eebfa-58f5-4409-aad8-bc8aa39381cc + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/hotel_services_wy/hotel_services/front_desk/deliver_room_card/hotel_services_ag/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_hotel_services_ag + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + - object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null + - object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null + total_episodes: 500 + yaml: + dataset_name: hotel_services_ag + dataset_uuid: null + task_descriptions: + - pick room card from front box and give room card. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_kuavo_4_pro + end_effector_type: five_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 428 + total_frames: 72556 + total_tasks: 1 + total_videos: 1284 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:427 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_hotel_services_ah.yaml b/dataset_info/leju_robot_hotel_services_ah.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e5b8925451aab7f7a891276bdc3b2db088d77605 --- /dev/null +++ b/dataset_info/leju_robot_hotel_services_ah.yaml @@ -0,0 +1,1207 @@ +dataset_name: hotel_services_ah +dataset_uuid: d6db4bde-0fc4-4f4c-b80a-f12034b9d043 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +- object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null +- object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null +path: leju_robot_hotel_services_ah +video_url: ./assets/videos/leju_robot_hotel_services_ah.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_hotel_services_ah.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 1K-10K +dataset_size: 542.6MB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 44 + total_frames: 8145 + total_tasks: 1 + total_videos: 132 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:43 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Pick up the card and hand it to the target person. +sub_tasks: +- Pick up the key card from the card box. +- Hand the key card to the target. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_hotel_services_ah_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 533 + dataset_name: hotel_services_ah + dataset_uuid: d6db4bde-0fc4-4f4c-b80a-f12034b9d043 + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/hotel_services_wy/hotel_services/front_desk/deliver_room_card/hotel_services_ah/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_hotel_services_ah + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + - object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null + - object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null + total_episodes: 51 + yaml: + dataset_name: hotel_services_ah + dataset_uuid: null + task_descriptions: + - take out the card place it on the sensor for recognition and then transfer it. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_robot + end_effector_type: two_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 44 + total_frames: 8145 + total_tasks: 1 + total_videos: 132 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:43 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_hotel_services_b.yaml b/dataset_info/leju_robot_hotel_services_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2a52b905e66cc361ef02120f4b4ad23e74956f1b --- /dev/null +++ b/dataset_info/leju_robot_hotel_services_b.yaml @@ -0,0 +1,1212 @@ +dataset_name: hotel_services_b +dataset_uuid: 1652000d-29c5-40d4-9d8d-3198ed81edbb +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +- object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null +- object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null +path: leju_robot_hotel_services_b +video_url: ./assets/videos/leju_robot_hotel_services_b.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_hotel_services_b.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 14.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 288 + total_frames: 209703 + total_tasks: 1 + total_videos: 864 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:287 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take out the card place it on the sensor for recognition and then transfer + it. +sub_tasks: +- Hand the room key to the person. +- Place the ID card on the card reader. +- Take the ID card from the person's hand. +- Pick up the room key from the key card box. +- Hand the ID card to the person. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_hotel_services_b_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 538 + dataset_name: hotel_services_b + dataset_uuid: 1652000d-29c5-40d4-9d8d-3198ed81edbb + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/front_desk_b/customer_check_in/hotel_services_b/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_hotel_services_b + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + - object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null + - object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null + total_episodes: 500 + yaml: + dataset_name: hotel_services_b + dataset_uuid: null + task_descriptions: + - take identity card and place it on card reader then give identity card and room + card to human. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: card_reader + level1: electronic_products + level2: card_reader + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_kuavo_4_pro + end_effector_type: five_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 288 + total_frames: 209703 + total_tasks: 1 + total_videos: 864 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:287 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_hotel_services_c.yaml b/dataset_info/leju_robot_hotel_services_c.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6def2a8dda0c7bc398d3dc80f55cd349a4c2e033 --- /dev/null +++ b/dataset_info/leju_robot_hotel_services_c.yaml @@ -0,0 +1,1212 @@ +dataset_name: hotel_services_c +dataset_uuid: 6caaa6a8-f638-4f21-89e1-89725c297ba7 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +- object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null +- object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null +path: leju_robot_hotel_services_c +video_url: ./assets/videos/leju_robot_hotel_services_c.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_hotel_services_c.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 15.6GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 334 + total_frames: 235148 + total_tasks: 1 + total_videos: 1002 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:333 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take out the card place it on the sensor for recognition and then transfer + it. +sub_tasks: +- Hand the room key to the person. +- Place the ID card on the card reader. +- Take the ID card from the person's hand. +- Pick up the room key from the key card box. +- Hand the ID card to the person. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_hotel_services_c_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 540 + dataset_name: hotel_services_c + dataset_uuid: 6caaa6a8-f638-4f21-89e1-89725c297ba7 + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/front_desk_b/customer_check_in/hotel_services_c/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_hotel_services_c + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + - object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null + - object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null + total_episodes: 500 + yaml: + dataset_name: hotel_services_c + dataset_uuid: null + task_descriptions: + - take identity card and place it on card reader then give identity card and room + card to human. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: card reader + level1: electronic_products + level2: card reader + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_kuavo_4_pro + end_effector_type: five_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 334 + total_frames: 235148 + total_tasks: 1 + total_videos: 1002 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:333 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_hotel_services_d.yaml b/dataset_info/leju_robot_hotel_services_d.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a27b178f0809632b8c92826ea024ce48a32bce57 --- /dev/null +++ b/dataset_info/leju_robot_hotel_services_d.yaml @@ -0,0 +1,1212 @@ +dataset_name: hotel_services_d +dataset_uuid: 83fb3fa9-72ea-4860-a22f-c6a5a597df39 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +- object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null +- object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null +path: leju_robot_hotel_services_d +video_url: ./assets/videos/leju_robot_hotel_services_d.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_hotel_services_d.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 15.1GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 324 + total_frames: 224505 + total_tasks: 1 + total_videos: 972 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:323 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take out the card place it on the sensor for recognition and then transfer + it. +sub_tasks: +- Hand the room key to the person. +- Place the ID card on the card reader. +- Take the ID card from the person's hand. +- Pick up the room key from the key card box. +- Hand the ID card to the person. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_hotel_services_d_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 539 + dataset_name: hotel_services_d + dataset_uuid: 83fb3fa9-72ea-4860-a22f-c6a5a597df39 + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/front_desk_b/customer_check_in/hotel_services_d/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_hotel_services_d + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + - object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null + - object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null + total_episodes: 500 + yaml: + dataset_name: hotel_services_d + dataset_uuid: null + task_descriptions: + - take identity card and place it on card reader then give identity card and room + card to human. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: card_reader + level1: electronic_products + level2: card_reader + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_kuavo_4_pro + end_effector_type: five_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 324 + total_frames: 224505 + total_tasks: 1 + total_videos: 972 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:323 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_hotel_services_e.yaml b/dataset_info/leju_robot_hotel_services_e.yaml new file mode 100644 index 0000000000000000000000000000000000000000..432246874f7f9bd84b706bd328d086b9b59a4dd2 --- /dev/null +++ b/dataset_info/leju_robot_hotel_services_e.yaml @@ -0,0 +1,1172 @@ +dataset_name: hotel_services_e +dataset_uuid: 4d57f5ee-7850-4fb4-8532-415c1821c756 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +- object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null +- object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null +path: leju_robot_hotel_services_e +video_url: ./assets/videos/leju_robot_hotel_services_e.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_hotel_services_e.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 14.2GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 309 + total_frames: 212885 + total_tasks: 1 + total_videos: 927 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:308 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take out the card place it on the sensor for recognition and then transfer + it. +sub_tasks: +- Hand the room key to the person. +- Place the ID card on the card reader. +- Take the ID card from the person's hand. +- Pick up the room key from the key card box. +- Hand the ID card to the person. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_hotel_services_e_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 549 + dataset_name: hotel_services_e + dataset_uuid: 4d57f5ee-7850-4fb4-8532-415c1821c756 + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/front_desk_b/customer_check_in/hotel_services_e/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_hotel_services_e + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + - object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null + - object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null + total_episodes: null + yaml: {} + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 309 + total_frames: 212885 + total_tasks: 1 + total_videos: 927 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:308 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_hotel_services_f.yaml b/dataset_info/leju_robot_hotel_services_f.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9e1947b6c2ee9c6022a33d166f0f2e0c288f4cf4 --- /dev/null +++ b/dataset_info/leju_robot_hotel_services_f.yaml @@ -0,0 +1,1212 @@ +dataset_name: hotel_services_f +dataset_uuid: 9c2a5a4c-c510-4e80-983e-593589a8eec6 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +- object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null +- object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null +path: leju_robot_hotel_services_f +video_url: ./assets/videos/leju_robot_hotel_services_f.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_hotel_services_f.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 6.3GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 135 + total_frames: 95863 + total_tasks: 1 + total_videos: 405 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:134 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take out the card place it on the sensor for recognition and then transfer + it. +sub_tasks: +- Hand the room key to the person. +- Place the ID card on the card reader. +- Take the ID card from the person's hand. +- Pick up the room key from the key card box. +- Hand the ID card to the person. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_hotel_services_f_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 543 + dataset_name: hotel_services_f + dataset_uuid: 9c2a5a4c-c510-4e80-983e-593589a8eec6 + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/front_desk_b/customer_check_in/hotel_services_f/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_hotel_services_f + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + - object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null + - object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null + total_episodes: 240 + yaml: + dataset_name: hotel_services_f + dataset_uuid: null + task_descriptions: + - take identity card and place it on card reader then give identity card and room + card to human. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: card_reader + level1: electronic_products + level2: card_reader + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_kuavo_4_pro + end_effector_type: five_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 135 + total_frames: 95863 + total_tasks: 1 + total_videos: 405 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:134 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_hotel_services_h.yaml b/dataset_info/leju_robot_hotel_services_h.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4ecf689b77d25df734fa9abfd90d3f72b9c27010 --- /dev/null +++ b/dataset_info/leju_robot_hotel_services_h.yaml @@ -0,0 +1,1015 @@ +dataset_name: hotel_services_h +dataset_uuid: c14b0609-dd8c-4b81-9f81-e1d77b899e9e +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +- object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null +- object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null +path: leju_robot_hotel_services_h +video_url: ./assets/videos/leju_robot_hotel_services_h.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_hotel_services_h.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 2.3GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 205 + total_frames: 35880 + total_tasks: 1 + total_videos: 615 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:204 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: Pick up the card and hand it over to the target person. +sub_tasks: +- Hand the key card to the target. +- Pick up the key card from the card box. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_hotel_services_h_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 536 + dataset_name: hotel_services_h + dataset_uuid: c14b0609-dd8c-4b81-9f81-e1d77b899e9e + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/front_desk_a/hotel_services_h/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_hotel_services_h + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + - object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null + - object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: hotel_services_h + dataset_uuid: null + task_descriptions: + - take out the card place it on the sensor for recognition and then transfer it. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_robot + end_effector_type: two_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 205 + total_frames: 35880 + total_tasks: 1 + total_videos: 615 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:204 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_hotel_services_i.yaml b/dataset_info/leju_robot_hotel_services_i.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20c04eb3cde6ab6dff5519504bdae3a6acac773b --- /dev/null +++ b/dataset_info/leju_robot_hotel_services_i.yaml @@ -0,0 +1,1019 @@ +dataset_name: hotel_services_i +dataset_uuid: fc45ac73-e09b-491e-9dc0-71c8c532f0a7 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +- object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null +- object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null +path: leju_robot_hotel_services_i +video_url: ./assets/videos/leju_robot_hotel_services_i.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_hotel_services_i.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 10K-100K +dataset_size: 2.1GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 189 + total_frames: 33547 + total_tasks: 1 + total_videos: 567 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:188 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take out the card place it on the sensor for recognition and then transfer + it. +sub_tasks: +- End +- Take out the room card with right gripper +- Hand the room card to the guest with right gripper +- Hand the room card to the target. +- Pick up the room card from the card holder. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_hotel_services_i_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 537 + dataset_name: hotel_services_i + dataset_uuid: fc45ac73-e09b-491e-9dc0-71c8c532f0a7 + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/front_desk_a/hotel_services_i/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_hotel_services_i + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null + - object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null + - object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null + total_episodes: 211 + yaml: + dataset_name: hotel_services_i + dataset_uuid: null + task_descriptions: + - pick room card from front box and give room card. + scene_type: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: card + level1: nfc + level2: card + level3: null + level4: null + level5: null + - object_name: box + level1: container + level2: box + level3: null + level4: null + level5: null + - object_name: sensor + level1: electronic_products + level2: sensor + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_kuavo_4_pro + end_effector_type: five_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 189 + total_frames: 33547 + total_tasks: 1 + total_videos: 567 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:188 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_moving_parts_a.yaml b/dataset_info/leju_robot_moving_parts_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2d5174e3fe6c513a0e4509556cf32b9c04a8ba51 --- /dev/null +++ b/dataset_info/leju_robot_moving_parts_a.yaml @@ -0,0 +1,1198 @@ +dataset_name: moving_parts_a +dataset_uuid: e595bb4f-5c6e-4271-9364-10c9f3f695b0 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null +- object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null +path: leju_robot_moving_parts_a +video_url: ./assets/videos/leju_robot_moving_parts_a.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_moving_parts_a.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 34.2GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 380 + total_frames: 557980 + total_tasks: 1 + total_videos: 1140 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:379 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take the parts from the cabinet and place them on the table. +sub_tasks: +- Grasp the gray part with right gripper +- Move to the table behind body +- Grasp the white part with right gripper +- Grasp the white part with left gripper +- Place the gray part on the table with right gripper +- Place the white part on the table with left gripper +- Place the white part on the table with right gripper +- End +- Move to the initial position at the workbench. +- Insert the small parts into the corresponding holes on the workbench. +- Pick up the small parts from the shelf. +- Move the small parts to the workbench. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_moving_parts_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 516 + dataset_name: moving_parts_a + dataset_uuid: e595bb4f-5c6e-4271-9364-10c9f3f695b0 + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plant/manufacturing_plant/loading_of_tooling/loading_of_small_tooling/hotel_services_a/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_moving_parts_a + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null + - object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: moving_parts_a + dataset_uuid: null + task_descriptions: + - take the parts from the cabinet and place them on the table. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cabinet + level1: furniture + level2: cabinet + level3: null + level4: null + level5: null + - object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_robot + end_effector_type: two_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 380 + total_frames: 557980 + total_tasks: 1 + total_videos: 1140 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:379 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_moving_parts_b.yaml b/dataset_info/leju_robot_moving_parts_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a01ef272f303c3b5dff0df0ee75a1f7d6df238fd --- /dev/null +++ b/dataset_info/leju_robot_moving_parts_b.yaml @@ -0,0 +1,1196 @@ +dataset_name: moving_parts_b +dataset_uuid: b23f0a82-6d8f-4f98-b818-5e10125816cc +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null +- object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null +path: leju_robot_moving_parts_b +video_url: ./assets/videos/leju_robot_moving_parts_b.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_moving_parts_b.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 43.3GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 490 + total_frames: 708011 + total_tasks: 1 + total_videos: 1470 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:489 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take the parts from the cabinet and place them on the table. +sub_tasks: +- Insert the small parts into the corresponding holes on the workbench. +- End +- Place the white part on the table with left gripper +- Grasp the white part with left gripper +- Move the small parts to the workbench. +- Move to the table behind body +- Take small components from the rack. +- Pick up small parts from the shelf. +- Move to the initial position of the workbench. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_moving_parts_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 514 + dataset_name: moving_parts_b + dataset_uuid: b23f0a82-6d8f-4f98-b818-5e10125816cc + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plant/manufacturing_plant/loading_of_tooling/loading_of_small_tooling/hotel_services_b/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_moving_parts_b + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null + - object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null + total_episodes: 500 + yaml: + dataset_name: moving_parts_b + dataset_uuid: null + task_descriptions: + - take the parts from the cabinet and move to the table ,then place the parts + on the table. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cabinet + level1: furniture + level2: cabinet + level3: null + level4: null + level5: null + - object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_kuavo_4_pro + end_effector_type: five_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 490 + total_frames: 708011 + total_tasks: 1 + total_videos: 1470 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:489 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_moving_parts_c.yaml b/dataset_info/leju_robot_moving_parts_c.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dd4d1f00b318522261c289282b0a1b028e835945 --- /dev/null +++ b/dataset_info/leju_robot_moving_parts_c.yaml @@ -0,0 +1,1199 @@ +dataset_name: moving_parts_c +dataset_uuid: 7aa945d0-afcc-41a9-bc85-6d19914ec42d +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null +- object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null +path: leju_robot_moving_parts_c +video_url: ./assets/videos/leju_robot_moving_parts_c.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_moving_parts_c.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 44.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 490 + total_frames: 716756 + total_tasks: 1 + total_videos: 1470 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:489 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take the parts from the cabinet and place them on the table. +sub_tasks: +- Place the white part on the table with left gripper +- Grasp the white part with left gripper +- Place the gray part on the table with right gripper +- Grasp the gray part with right gripper +- End +- Return to the initial position at the workbench. +- Move the small component to the workbench. +- Place the white part on the table with right gripper +- Insert the small component into the corresponding slot on the workbench. +- Pick up the small component from the shelf. +- Move to the table behind body +- Grasp the white part with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_moving_parts_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 515 + dataset_name: moving_parts_c + dataset_uuid: 7aa945d0-afcc-41a9-bc85-6d19914ec42d + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plant/manufacturing_plant/loading_of_tooling/loading_of_small_tooling/hotel_services_c/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_moving_parts_c + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null + - object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null + total_episodes: 500 + yaml: + dataset_name: moving_parts_c + dataset_uuid: null + task_descriptions: + - take the parts from the cabinet and move to the table ,then place the parts + on the table. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cabinet + level1: furniture + level2: cabinet + level3: null + level4: null + level5: null + - object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_kuavo_4_pro + end_effector_type: five_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 490 + total_frames: 716756 + total_tasks: 1 + total_videos: 1470 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:489 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_moving_parts_f.yaml b/dataset_info/leju_robot_moving_parts_f.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872236626341a164ec86010cec4201fe3dbca81 --- /dev/null +++ b/dataset_info/leju_robot_moving_parts_f.yaml @@ -0,0 +1,1200 @@ +dataset_name: moving_parts_f +dataset_uuid: b51f42cb-0020-403b-b1c0-c4cc99f2190a +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null +- object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null +path: leju_robot_moving_parts_f +video_url: ./assets/videos/leju_robot_moving_parts_f.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_moving_parts_f.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 44.2GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 489 + total_frames: 716938 + total_tasks: 1 + total_videos: 1467 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:488 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take the parts from the cabinet and place them on the table. +sub_tasks: +- Place the white part on the table with left gripper +- Grasp the white part with left gripper +- Place the gray part on the table with right gripper +- End +- Return to the initial position at the workbench. +- Move the small component to the workbench. +- Abnormal +- Place the white part on the table with right gripper +- Insert the small component into the corresponding slot on the workbench. +- Pick up the small component from the shelf. +- Grasp the gray part with right gripper +- Move to the table behind body +- Grasp the white part with right gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_moving_parts_f_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 521 + dataset_name: moving_parts_f + dataset_uuid: b51f42cb-0020-403b-b1c0-c4cc99f2190a + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plant/manufacturing_plant/loading_of_tooling/loading_of_small_tooling/hotel_services_f/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_moving_parts_f + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null + - object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: moving_parts_f + dataset_uuid: null + task_descriptions: + - take the parts from the cabinet and move to the table ,then place the parts + on the table. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cabinet + level1: furniture + level2: cabinet + level3: null + level4: null + level5: null + - object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_kuavo_4_pro + end_effector_type: five_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 489 + total_frames: 716938 + total_tasks: 1 + total_videos: 1467 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:488 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_moving_parts_g.yaml b/dataset_info/leju_robot_moving_parts_g.yaml new file mode 100644 index 0000000000000000000000000000000000000000..11273d5f21265227676693f57112ffe5252e27b1 --- /dev/null +++ b/dataset_info/leju_robot_moving_parts_g.yaml @@ -0,0 +1,1196 @@ +dataset_name: moving_parts_g +dataset_uuid: 4e06a288-ac8c-4c85-a86b-027159d4add0 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null +- object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null +path: leju_robot_moving_parts_g +video_url: ./assets/videos/leju_robot_moving_parts_g.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_moving_parts_g.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 13.8GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 157 + total_frames: 225345 + total_tasks: 1 + total_videos: 471 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:156 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take the parts from the cabinet and place them on the table. +sub_tasks: +- Insert the small component into the corresponding slot on the workbench. +- Move to the table behind body +- Grasp the white part with right gripper +- Move the small component to the workbench. +- Place the white part on the table with left gripper +- Place the white part on the table with right gripper +- End +- Pick up the small component from the shelf. +- Return to the initial position at the workbench. +- Grasp the white part with left gripper +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_moving_parts_g_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 523 + dataset_name: moving_parts_g + dataset_uuid: 4e06a288-ac8c-4c85-a86b-027159d4add0 + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plant/manufacturing_plant/loading_of_tooling/loading_of_small_tooling/hotel_services_g/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_moving_parts_g + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null + - object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: moving_parts_g + dataset_uuid: null + task_descriptions: + - take the parts from the cabinet and place them on the table. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cabinet + level1: furniture + level2: cabinet + level3: null + level4: null + level5: null + - object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_robot + end_effector_type: two_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 157 + total_frames: 225345 + total_tasks: 1 + total_videos: 471 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:156 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_moving_parts_h.yaml b/dataset_info/leju_robot_moving_parts_h.yaml new file mode 100644 index 0000000000000000000000000000000000000000..84756e3fa92b7a29c824892e5689a16349e5e922 --- /dev/null +++ b/dataset_info/leju_robot_moving_parts_h.yaml @@ -0,0 +1,1197 @@ +dataset_name: moving_parts_h +dataset_uuid: 27a39264-c303-45a1-9046-1419479116fb +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null +- object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null +path: leju_robot_moving_parts_h +video_url: ./assets/videos/leju_robot_moving_parts_h.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_moving_parts_h.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 14.5GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 162 + total_frames: 234391 + total_tasks: 1 + total_videos: 486 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:161 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take the parts from the cabinet and place them on the table. +sub_tasks: +- Grasp the gray part with right gripper +- Insert the small component into the corresponding slot on the workbench. +- Move to the table behind body +- Grasp the white part with right gripper +- Abnormal +- Move the small component to the workbench. +- Place the gray part on the table with right gripper +- Place the white part on the table with right gripper +- End +- Pick up the small component from the shelf. +- Return to the initial position at the workbench. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_moving_parts_h_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 522 + dataset_name: moving_parts_h + dataset_uuid: 27a39264-c303-45a1-9046-1419479116fb + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plant/manufacturing_plant/loading_of_tooling/loading_of_small_tooling/hotel_services_h/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_moving_parts_h + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null + - object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: moving_parts_h + dataset_uuid: null + task_descriptions: + - take the parts from the cabinet and place them on the table. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cabinet + level1: furniture + level2: cabinet + level3: null + level4: null + level5: null + - object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_robot + end_effector_type: two_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 162 + total_frames: 234391 + total_tasks: 1 + total_videos: 486 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:161 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_moving_parts_i.yaml b/dataset_info/leju_robot_moving_parts_i.yaml new file mode 100644 index 0000000000000000000000000000000000000000..036a4eed4fb7e39468f17dd4415b896b0fa37271 --- /dev/null +++ b/dataset_info/leju_robot_moving_parts_i.yaml @@ -0,0 +1,1196 @@ +dataset_name: moving_parts_i +dataset_uuid: c8b01b9f-9806-4a5a-a895-01df2cac436f +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null +- object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null +path: leju_robot_moving_parts_i +video_url: ./assets/videos/leju_robot_moving_parts_i.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_moving_parts_i.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 14.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 155 + total_frames: 229727 + total_tasks: 1 + total_videos: 465 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:154 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take the parts from the cabinet and place them on the table. +sub_tasks: +- Move to the initial position of the workbench. +- Grasp the gray part with right gripper +- Insert the small component into the corresponding slot on the workbench. +- Move to the table behind body +- Grasp the white part with right gripper +- Place the gray part on the table with right gripper +- Place the white part on the table with right gripper +- End +- Pick up the small component from the shelf. +- Bring the small component to the front of the workbench. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_moving_parts_i_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 526 + dataset_name: moving_parts_i + dataset_uuid: c8b01b9f-9806-4a5a-a895-01df2cac436f + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plant/manufacturing_plant/loading_of_tooling/loading_of_small_tooling/hotel_services_i/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_moving_parts_i + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null + - object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: moving_parts_i + dataset_uuid: null + task_descriptions: + - take the parts from the cabinet and place them on the table. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cabinet + level1: furniture + level2: cabinet + level3: null + level4: null + level5: null + - object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_robot + end_effector_type: two_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 155 + total_frames: 229727 + total_tasks: 1 + total_videos: 465 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:154 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_moving_parts_j.yaml b/dataset_info/leju_robot_moving_parts_j.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b4d1f217f261b8d36e7269dc9a86a6856fecbbdc --- /dev/null +++ b/dataset_info/leju_robot_moving_parts_j.yaml @@ -0,0 +1,1196 @@ +dataset_name: moving_parts_j +dataset_uuid: a7584581-99dc-4ffb-bc23-e846841a55b7 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null +- object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null +path: leju_robot_moving_parts_j +video_url: ./assets/videos/leju_robot_moving_parts_j.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_moving_parts_j.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 13.9GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 153 + total_frames: 223023 + total_tasks: 1 + total_videos: 459 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:152 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take the parts from the cabinet and place them on the table. +sub_tasks: +- Move to the initial position of the workbench. +- Grasp the gray part with right gripper +- Insert the small component into the corresponding slot on the workbench. +- Move to the table behind body +- Grasp the white part with right gripper +- Place the gray part on the table with right gripper +- Place the white part on the table with right gripper +- End +- Pick up the small component from the shelf. +- Bring the small component to the front of the workbench. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_moving_parts_j_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 524 + dataset_name: moving_parts_j + dataset_uuid: a7584581-99dc-4ffb-bc23-e846841a55b7 + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plant/manufacturing_plant/loading_of_tooling/loading_of_small_tooling/hotel_services_j/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_moving_parts_j + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null + - object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: moving_parts_j + dataset_uuid: null + task_descriptions: + - take the parts from the cabinet and place them on the table. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cabinet + level1: furniture + level2: cabinet + level3: null + level4: null + level5: null + - object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_robot + end_effector_type: two_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 153 + total_frames: 223023 + total_tasks: 1 + total_videos: 459 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:152 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_moving_parts_k.yaml b/dataset_info/leju_robot_moving_parts_k.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fcd8538a3bae6d2ae9b7887e8f84f08246e427cd --- /dev/null +++ b/dataset_info/leju_robot_moving_parts_k.yaml @@ -0,0 +1,1195 @@ +dataset_name: moving_parts_k +dataset_uuid: 062231be-de5e-4cef-b404-096085be3e9e +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null +- object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null +path: leju_robot_moving_parts_k +video_url: ./assets/videos/leju_robot_moving_parts_k.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_moving_parts_k.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 28.4GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 329 + total_frames: 468307 + total_tasks: 1 + total_videos: 987 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:328 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take the parts from the cabinet and place them on the table. +sub_tasks: +- Pick up the small component from the shelf. +- Grasp the white part with right gripper +- End +- Move to the initial position at the workbench. +- Insert the small component into the corresponding slot on the workbench. +- Place the white part on the table with right gripper +- Move to the table behind body +- Move the small component to the workbench. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_moving_parts_k_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 529 + dataset_name: moving_parts_k + dataset_uuid: 062231be-de5e-4cef-b404-096085be3e9e + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plant/manufacturing_plant/loading_of_tooling/loading_of_small_tooling/hotel_services_k/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_moving_parts_k + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null + - object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: moving_parts_k + dataset_uuid: null + task_descriptions: + - take the parts from the cabinet and move to the table ,then place the parts + on the table. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cabinet + level1: furniture + level2: cabinet + level3: null + level4: null + level5: null + - object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_kuavo_4_pro + end_effector_type: five_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 329 + total_frames: 468307 + total_tasks: 1 + total_videos: 987 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:328 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_moving_parts_m.yaml b/dataset_info/leju_robot_moving_parts_m.yaml new file mode 100644 index 0000000000000000000000000000000000000000..13094e7c1037c3d3a0a30af389a8fd9031b78c45 --- /dev/null +++ b/dataset_info/leju_robot_moving_parts_m.yaml @@ -0,0 +1,1194 @@ +dataset_name: moving_parts_m +dataset_uuid: fb9bf451-cf8b-4da5-b5c1-13529609f049 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null +- object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null +path: leju_robot_moving_parts_m +video_url: ./assets/videos/leju_robot_moving_parts_m.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_moving_parts_m.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 50.9GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 490 + total_frames: 742399 + total_tasks: 1 + total_videos: 1470 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:489 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take the parts from the cabinet and place them on the table. +sub_tasks: +- Place the black part on the table with right gripper +- Pick up the large material from the shelf. +- Insert the large material into the corresponding slot on the workbench. +- End +- Grasp the black part with right gripper +- Move the large material to the workbench. +- Move to the initial position of the shelf. +- Move to the table behind body +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_moving_parts_m_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 557 + dataset_name: moving_parts_m + dataset_uuid: fb9bf451-cf8b-4da5-b5c1-13529609f049 + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plants/hotel_services_m/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_moving_parts_m + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null + - object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: moving_parts_m + dataset_uuid: null + task_descriptions: + - take the parts from the cabinet and place them on the table. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cabinet + level1: furniture + level2: cabinet + level3: null + level4: null + level5: null + - object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_robot + end_effector_type: two_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 490 + total_frames: 742399 + total_tasks: 1 + total_videos: 1470 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:489 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_moving_parts_n.yaml b/dataset_info/leju_robot_moving_parts_n.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0aa07d968db33e09118ca5548f6b83015cd6e432 --- /dev/null +++ b/dataset_info/leju_robot_moving_parts_n.yaml @@ -0,0 +1,1161 @@ +dataset_name: moving_parts_n +dataset_uuid: 45be2265-aabd-465a-ba72-7ad2a60ed23e +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null +- object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null +path: leju_robot_moving_parts_n +video_url: ./assets/videos/leju_robot_moving_parts_n.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_moving_parts_n.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 51.0GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 492 + total_frames: 738613 + total_tasks: 1 + total_videos: 1476 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:491 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take the parts from the cabinet and place them on the table. +sub_tasks: +- Place the black part on the table with right gripper +- Pick up the large material from the shelf. +- Insert the large material into the corresponding slot on the workbench. +- End +- Grasp the black part with right gripper +- Move the large material to the workbench. +- Move to the initial position of the shelf. +- Move to the table behind body +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_moving_parts_n_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 560 + dataset_name: moving_parts_n + dataset_uuid: 45be2265-aabd-465a-ba72-7ad2a60ed23e + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plants/hotel_services_n/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_moving_parts_n + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null + - object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null + total_episodes: null + yaml: {} + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 492 + total_frames: 738613 + total_tasks: 1 + total_videos: 1476 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:491 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_moving_parts_o.yaml b/dataset_info/leju_robot_moving_parts_o.yaml new file mode 100644 index 0000000000000000000000000000000000000000..36713d59d3b100daa81426eab1367fcd58f3980b --- /dev/null +++ b/dataset_info/leju_robot_moving_parts_o.yaml @@ -0,0 +1,1194 @@ +dataset_name: moving_parts_o +dataset_uuid: 27cad5ab-323b-4157-acc6-9f7405263110 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null +- object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null +path: leju_robot_moving_parts_o +video_url: ./assets/videos/leju_robot_moving_parts_o.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_moving_parts_o.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 51.1GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 490 + total_frames: 745064 + total_tasks: 1 + total_videos: 1470 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:489 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take the parts from the cabinet and place them on the table. +sub_tasks: +- Return to the initial position at the shelf +- Grasp the black part with right gripper +- End +- Pick up the large material from the shelf +- Place the black part on the table with right gripper +- Move to the table behind body +- Move the large material to the workbench +- Insert the large material into the corresponding slot on the workbench +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_moving_parts_o_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 558 + dataset_name: moving_parts_o + dataset_uuid: 27cad5ab-323b-4157-acc6-9f7405263110 + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plants/hotel_services_o/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_moving_parts_o + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null + - object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: moving_parts_o + dataset_uuid: null + task_descriptions: + - take the parts from the cabinet and place them on the table. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cabinet + level1: furniture + level2: cabinet + level3: null + level4: null + level5: null + - object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_robot + end_effector_type: two_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 490 + total_frames: 745064 + total_tasks: 1 + total_videos: 1470 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:489 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_moving_parts_q.yaml b/dataset_info/leju_robot_moving_parts_q.yaml new file mode 100644 index 0000000000000000000000000000000000000000..11a645e4bfd3ad54fc31f5af317b2fdc11ad5feb --- /dev/null +++ b/dataset_info/leju_robot_moving_parts_q.yaml @@ -0,0 +1,1161 @@ +dataset_name: moving_parts_q +dataset_uuid: 1632a2f6-2fac-45cf-b9d6-7088ebda0870 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null +- object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null +path: leju_robot_moving_parts_q +video_url: ./assets/videos/leju_robot_moving_parts_q.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_moving_parts_q.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 51.9GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 494 + total_frames: 756932 + total_tasks: 1 + total_videos: 1482 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:493 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take the parts from the cabinet and place them on the table. +sub_tasks: +- Place the black part on the table with right gripper +- Pick up the large material from the shelf. +- Insert the large material into the corresponding slot on the workbench. +- End +- Grasp the black part with right gripper +- Move the large material to the workbench. +- Move to the initial position of the shelf. +- Move to the table behind body +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_moving_parts_q_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 562 + dataset_name: moving_parts_q + dataset_uuid: 1632a2f6-2fac-45cf-b9d6-7088ebda0870 + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plants/hotel_services_q/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_moving_parts_q + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null + - object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null + total_episodes: null + yaml: {} + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 494 + total_frames: 756932 + total_tasks: 1 + total_videos: 1482 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:493 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_moving_parts_r.yaml b/dataset_info/leju_robot_moving_parts_r.yaml new file mode 100644 index 0000000000000000000000000000000000000000..45c1772b4d2b1ec8ffcd634fb8f4e8fc7380206a --- /dev/null +++ b/dataset_info/leju_robot_moving_parts_r.yaml @@ -0,0 +1,1161 @@ +dataset_name: moving_parts_r +dataset_uuid: ee9fa92f-ba5e-4973-ab0f-b16bc5e31efe +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null +- object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null +path: leju_robot_moving_parts_r +video_url: ./assets/videos/leju_robot_moving_parts_r.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_moving_parts_r.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 53.4GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 495 + total_frames: 775023 + total_tasks: 1 + total_videos: 1485 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:494 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take the parts from the cabinet and place them on the table. +sub_tasks: +- Place the black part on the table with right gripper +- Pick up the large material from the shelf. +- Insert the large material into the corresponding slot on the workbench. +- End +- Grasp the black part with right gripper +- Move the large material to the workbench. +- Move to the initial position of the shelf. +- Move to the table behind body +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_moving_parts_r_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 561 + dataset_name: moving_parts_r + dataset_uuid: ee9fa92f-ba5e-4973-ab0f-b16bc5e31efe + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plants/hotel_services_r/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_moving_parts_r + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null + - object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null + total_episodes: null + yaml: {} + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 495 + total_frames: 775023 + total_tasks: 1 + total_videos: 1485 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:494 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_moving_parts_s.yaml b/dataset_info/leju_robot_moving_parts_s.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f168b34bddd08870a1652fb2545c5542a7ea4c75 --- /dev/null +++ b/dataset_info/leju_robot_moving_parts_s.yaml @@ -0,0 +1,1195 @@ +dataset_name: moving_parts_s +dataset_uuid: 4f3b96f0-482a-45ca-9176-d8cdf62101c7 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null +- object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null +path: leju_robot_moving_parts_s +video_url: ./assets/videos/leju_robot_moving_parts_s.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_moving_parts_s.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 53.8GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 495 + total_frames: 776972 + total_tasks: 1 + total_videos: 1485 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:494 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take the parts from the cabinet and place them on the table. +sub_tasks: +- Return to the initial position at the shelf +- Grasp the black part with right gripper +- End +- Abnormal +- Pick up the large material from the shelf +- Place the black part on the table with right gripper +- Move to the table behind body +- Move the large material to the workbench +- Insert the large material into the corresponding slot on the workbench +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_moving_parts_s_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 563 + dataset_name: moving_parts_s + dataset_uuid: 4f3b96f0-482a-45ca-9176-d8cdf62101c7 + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plants/hotel_services_s/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_moving_parts_s + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null + - object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: moving_parts_s + dataset_uuid: null + task_descriptions: + - take the parts from the cabinet and place them on the table. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cabinet + level1: furniture + level2: cabinet + level3: null + level4: null + level5: null + - object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_robot + end_effector_type: two_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 495 + total_frames: 776972 + total_tasks: 1 + total_videos: 1485 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:494 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_moving_parts_t.yaml b/dataset_info/leju_robot_moving_parts_t.yaml new file mode 100644 index 0000000000000000000000000000000000000000..04e280b2c37252bd64bf00b2b5e330cb272e34a0 --- /dev/null +++ b/dataset_info/leju_robot_moving_parts_t.yaml @@ -0,0 +1,1190 @@ +dataset_name: moving_parts_t +dataset_uuid: 5056a5a3-f4a2-42af-895f-9a477a499c11 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null +- object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null +path: leju_robot_moving_parts_t +video_url: ./assets/videos/leju_robot_moving_parts_t.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_moving_parts_t.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 53.8GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 493 + total_frames: 778671 + total_tasks: 1 + total_videos: 1479 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:492 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take the parts from the cabinet and place them on the table. +sub_tasks: +- Move to the initial position of the shelf. +- Pick up the large material from the shelf. +- Insert the large material into the corresponding hole on the workbench. +- Move the large material to the front of the workbench. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_moving_parts_t_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 565 + dataset_name: moving_parts_t + dataset_uuid: 5056a5a3-f4a2-42af-895f-9a477a499c11 + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plants/hotel_services_t/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_moving_parts_t + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null + - object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: moving_parts_t + dataset_uuid: null + task_descriptions: + - take the parts from the cabinet and place them on the table. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cabinet + level1: furniture + level2: cabinet + level3: null + level4: null + level5: null + - object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_robot + end_effector_type: two_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 493 + total_frames: 778671 + total_tasks: 1 + total_videos: 1479 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:492 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_moving_parts_u.yaml b/dataset_info/leju_robot_moving_parts_u.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7595dc8e7907645c1e5bfd3e5124af906d705c52 --- /dev/null +++ b/dataset_info/leju_robot_moving_parts_u.yaml @@ -0,0 +1,1161 @@ +dataset_name: moving_parts_u +dataset_uuid: 5138770c-0dd3-4a50-a8a2-efa57aabc3e9 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null +- object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null +path: leju_robot_moving_parts_u +video_url: ./assets/videos/leju_robot_moving_parts_u.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_moving_parts_u.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 10.4GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 100 + total_frames: 149345 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:99 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: take the parts from the cabinet and place them on the table. +sub_tasks: +- Place the black part on the table with right gripper +- Pick up the large material from the shelf. +- Insert the large material into the corresponding slot on the workbench. +- End +- Grasp the black part with right gripper +- Move the large material to the workbench. +- Move to the initial position of the shelf. +- Move to the table behind body +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_moving_parts_u_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 564 + dataset_name: moving_parts_u + dataset_uuid: 5138770c-0dd3-4a50-a8a2-efa57aabc3e9 + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plants/hotel_services_u/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_moving_parts_u + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null + - object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null + total_episodes: null + yaml: {} + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 100 + total_frames: 149345 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:99 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_part_placement.yaml b/dataset_info/leju_robot_part_placement.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b57df40574f2d684f77e86588aa7eca801d268f4 --- /dev/null +++ b/dataset_info/leju_robot_part_placement.yaml @@ -0,0 +1,1200 @@ +dataset_name: part_placement +dataset_uuid: 41b426f1-987c-4320-8263-5f89139cf899 +scene_type: +- home +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null +- object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null +path: leju_robot_part_placement +video_url: ./assets/videos/leju_robot_part_placement.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_part_placement.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 50.4GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 538 + total_frames: 796570 + total_tasks: 1 + total_videos: 1614 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:537 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: pick up part from front cabinet turn around place on part at back table. +sub_tasks: +- Insert the small parts into the corresponding slots on the workbench. +- Move the large parts to the workbench. +- Pick up the large parts from the shelf. +- Grasp the black part with right gripper +- Grasp the gray part with right gripper +- End +- Return to the initial position at the workbench. +- Place the gray part on the table with right gripper +- Place the black part on the table with right gripper +- Move to the table behind body +- Insert the large parts into the corresponding slots on the workbench. +- Return to the initial position at the shelf. +- Move the small parts to the workbench. +- Pick up the small parts from the shelf. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_part_placement_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 369 + dataset_name: part_placement + dataset_uuid: 41b426f1-987c-4320-8263-5f89139cf899 + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/manufacturing_plant_wy/manufacturing_plant/loading_of_tooling/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_part_placement + scene_types: + - home + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null + - object_name: cabinet + level1: home_storage + level2: cabinet + level3: null + level4: null + level5: null + total_episodes: null + yaml: + dataset_name: part_placement + dataset_uuid: null + task_descriptions: + - pick up part from front cabinet turn around place on part at back table. + scene_type: + - home + atomic_actions: + - grasp + - place + - pick + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cabinet + level1: furniture + level2: cabinet + level3: null + level4: null + level5: null + - object_name: parts + level1: mechanical_parts + level2: parts + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - two_finger_gripper + end_effector_type: five_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 538 + total_frames: 796570 + total_tasks: 1 + total_videos: 1614 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:537 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_pass_the_cleaner_a.yaml b/dataset_info/leju_robot_pass_the_cleaner_a.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1f5c508d65819479fa64a3f680157d465a865600 --- /dev/null +++ b/dataset_info/leju_robot_pass_the_cleaner_a.yaml @@ -0,0 +1,1175 @@ +dataset_name: pass_the_cleaner_a +dataset_uuid: 870e2a78-0b89-486a-bed4-12863a5b00d6 +scene_type: +- home +- industry +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: cleaner + level1: daily_necessities + level2: cleaner + level3: null + level4: null + level5: null +path: leju_robot_pass_the_cleaner_a +video_url: ./assets/videos/leju_robot_pass_the_cleaner_a.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_pass_the_cleaner_a.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 8.7GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 457 + total_frames: 169467 + total_tasks: 1 + total_videos: 1371 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:456 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: pick up the cleaner and put it on the table. +sub_tasks: +- Turn the bottle to the front side. +- Pick up the bottle from the table. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_pass_the_cleaner_a_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 370 + dataset_name: pass_the_cleaner_a + dataset_uuid: 870e2a78-0b89-486a-bed4-12863a5b00d6 + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/fast_moving/fast_moving_consumer_goods/hotel_services_a/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_pass_the_cleaner_a + scene_types: + - home + - industry + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cleaner + level1: daily_necessities + level2: cleaner + level3: null + level4: null + level5: null + total_episodes: 500 + yaml: + dataset_name: pass_the_cleaner_a + dataset_uuid: null + task_descriptions: + - pick up the cleaner with right hand and passit to left hand then put it on the + table. + scene_type: + - home + - industry + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cleaner + level1: daily_necessities + level2: cleaner + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_robot + end_effector_type: two_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 457 + total_frames: 169467 + total_tasks: 1 + total_videos: 1371 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:456 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_pass_the_cleaner_b.yaml b/dataset_info/leju_robot_pass_the_cleaner_b.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ea353ddc527db1006b34498c16d33d6edf591fc5 --- /dev/null +++ b/dataset_info/leju_robot_pass_the_cleaner_b.yaml @@ -0,0 +1,1175 @@ +dataset_name: pass_the_cleaner_b +dataset_uuid: ceb2e30d-5b33-4f0f-b9e0-a88ee69d8e21 +scene_type: +- home +- industry +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: cleaner + level1: daily_necessities + level2: cleaner + level3: null + level4: null + level5: null +path: leju_robot_pass_the_cleaner_b +video_url: ./assets/videos/leju_robot_pass_the_cleaner_b.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_pass_the_cleaner_b.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 8.5GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 441 + total_frames: 164222 + total_tasks: 1 + total_videos: 1323 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:440 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: pick up the cleaner and put it on the table. +sub_tasks: +- Turn the bottle to the front side. +- Pick up the bottle from the table. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_pass_the_cleaner_b_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 517 + dataset_name: pass_the_cleaner_b + dataset_uuid: ceb2e30d-5b33-4f0f-b9e0-a88ee69d8e21 + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/fast_moving/fast_moving_consumer_goods/hotel_services_b/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_pass_the_cleaner_b + scene_types: + - home + - industry + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cleaner + level1: daily_necessities + level2: cleaner + level3: null + level4: null + level5: null + total_episodes: 500 + yaml: + dataset_name: pass_the_cleaner_b + dataset_uuid: null + task_descriptions: + - pick up the cleaner with right hand and passit to left hand then put it on the + table. + scene_type: + - home + - industry + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cleaner + level1: daily_necessities + level2: cleaner + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_kuavo_4_pro + end_effector_type: five_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 441 + total_frames: 164222 + total_tasks: 1 + total_videos: 1323 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:440 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_pass_the_cleaner_c.yaml b/dataset_info/leju_robot_pass_the_cleaner_c.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5f62b629dcf2f3211879022e686d128fa76c8dd8 --- /dev/null +++ b/dataset_info/leju_robot_pass_the_cleaner_c.yaml @@ -0,0 +1,1175 @@ +dataset_name: pass_the_cleaner_c +dataset_uuid: 3cc917ac-539a-404f-be76-b82846c01668 +scene_type: +- home +- industry +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: cleaner + level1: daily_necessities + level2: cleaner + level3: null + level4: null + level5: null +path: leju_robot_pass_the_cleaner_c +video_url: ./assets/videos/leju_robot_pass_the_cleaner_c.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_pass_the_cleaner_c.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 8.3GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 444 + total_frames: 162075 + total_tasks: 1 + total_videos: 1332 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:443 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: pick up the cleaner and put it on the table. +sub_tasks: +- Turn the bottle to the front side. +- Pick up the bottle from the table. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_pass_the_cleaner_c_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 511 + dataset_name: pass_the_cleaner_c + dataset_uuid: 3cc917ac-539a-404f-be76-b82846c01668 + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/fast_moving/fast_moving_consumer_goods/hotel_services_c/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_pass_the_cleaner_c + scene_types: + - home + - industry + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cleaner + level1: daily_necessities + level2: cleaner + level3: null + level4: null + level5: null + total_episodes: 500 + yaml: + dataset_name: pass_the_cleaner_c + dataset_uuid: null + task_descriptions: + - pick up the cleaner with right hand and passit to left hand then put it on the + table. + scene_type: + - home + - industry + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cleaner + level1: daily_necessities + level2: cleaner + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_kuavo_4_pro + end_effector_type: five_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 444 + total_frames: 162075 + total_tasks: 1 + total_videos: 1332 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:443 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_pass_the_cleaner_d.yaml b/dataset_info/leju_robot_pass_the_cleaner_d.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9ddcbef41025e053fa900dc02917c36bafbc2efa --- /dev/null +++ b/dataset_info/leju_robot_pass_the_cleaner_d.yaml @@ -0,0 +1,1175 @@ +dataset_name: pass_the_cleaner_d +dataset_uuid: d1843bc1-83c4-4c84-8c34-c6740a7e82a9 +scene_type: +- home +- industry +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: cleaner + level1: daily_necessities + level2: cleaner + level3: null + level4: null + level5: null +path: leju_robot_pass_the_cleaner_d +video_url: ./assets/videos/leju_robot_pass_the_cleaner_d.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_pass_the_cleaner_d.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 8.7GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 451 + total_frames: 168676 + total_tasks: 1 + total_videos: 1353 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:450 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: pick up the cleaner and put it on the table. +sub_tasks: +- Turn the bottle to the front side. +- Pick up the bottle from the table. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_pass_the_cleaner_d_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 512 + dataset_name: pass_the_cleaner_d + dataset_uuid: d1843bc1-83c4-4c84-8c34-c6740a7e82a9 + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/fast_moving/fast_moving_consumer_goods/hotel_services_d/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_pass_the_cleaner_d + scene_types: + - home + - industry + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cleaner + level1: daily_necessities + level2: cleaner + level3: null + level4: null + level5: null + total_episodes: 500 + yaml: + dataset_name: pass_the_cleaner_d + dataset_uuid: null + task_descriptions: + - pick up the cleaner with right hand and passit to left hand then put it on the + table. + scene_type: + - home + - industry + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cleaner + level1: daily_necessities + level2: cleaner + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_kuavo_4_pro + end_effector_type: five_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 451 + total_frames: 168676 + total_tasks: 1 + total_videos: 1353 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:450 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/dataset_info/leju_robot_pass_the_cleaner_e.yaml b/dataset_info/leju_robot_pass_the_cleaner_e.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d987faf32779d7625e43d4db70ffd4a45bfe61d2 --- /dev/null +++ b/dataset_info/leju_robot_pass_the_cleaner_e.yaml @@ -0,0 +1,1175 @@ +dataset_name: pass_the_cleaner_e +dataset_uuid: 5857e16d-9974-4991-a27c-549f3ba35f03 +scene_type: +- home +- industry +atomic_actions: +- grasp +- pick +- place +end_effector_type: +- five_finger_hand +operation_platform_height: null +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: cleaner + level1: daily_necessities + level2: cleaner + level3: null + level4: null + level5: null +path: leju_robot_pass_the_cleaner_e +video_url: ./assets/videos/leju_robot_pass_the_cleaner_e.mp4 +thumbnail_url: ./assets/thumbnails/leju_robot_pass_the_cleaner_e.jpg +license: apache-2.0 +language: +- en +- zh +task_categories: +- robotics +tags: +- RoboCOIN +- LeRobot +frame_range: 100K-1M +dataset_size: 8.6GB +configs: +- config_name: default + data_files: data/*/*.parquet +authors: + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +project_page: https://flagopen.github.io/RoboCOIN/ +issues_url: https://github.com/FlagOpen/RoboCOIN/issues +robot_type: leju_robot +codebase_version: v2.1 +statistics: + total_episodes: 430 + total_frames: 165558 + total_tasks: 1 + total_videos: 1290 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +splits: + train: 0:429 +data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet +video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 +features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +tasks: pick up the cleaner and put it on the table. +sub_tasks: +- Turn the bottle to the front side. +- Pick up the bottle from the table. +- 'null' +annotations: + subtask_annotation: auto_generated + scene_annotation: auto_generated + eef_direction: auto_generated + eef_velocity: auto_generated + eef_acc_mag: auto_generated + gripper_mode: auto_generated + gripper_activity: auto_generated +cameras: +- key: observation.images.camera_head_rgb + name: camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_left_wrist_rgb + name: camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +- key: observation.images.camera_right_wrist_rgb + name: camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + resolution: + - 480 + - 848 + fps: 30 + is_depth: false +observation_space: + images: + - key: observation.images.camera_head_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_left_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + - key: observation.images.camera_right_wrist_rgb + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w +action_space: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s +eef_sim_pose: auto_generated +gripper_open_scale: auto_generated +depth_enabled: false +data_schema: auto_generated +structure: "leju_robot_pass_the_cleaner_e_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +contact_email: null +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: Please refer to the LICENSE file for full license terms and conditions. +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + - LeRobot Framework: https://github.com/huggingface/lerobot' +version_info: '## Version History + + - v1.0.0 (2025-11): Initial release' +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +raw: + db_record: + id: 513 + dataset_name: pass_the_cleaner_e + dataset_uuid: 5857e16d-9974-4991-a27c-549f3ba35f03 + device_model: leju_robot + end_effector_type: five_finger_hand + operation_platform_height: null + yaml_file_path: /mnt/nas/synnas/docker2/外部数据/乐聚2/fast_moving/fast_moving_consumer_goods/hotel_services_e/local_dataset_info.yaml + convert_path: /mnt/nas/synnas/docker2/robocoin-datasets/leju_robot_pass_the_cleaner_e + scene_types: + - home + - industry + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cleaner + level1: daily_necessities + level2: cleaner + level3: null + level4: null + level5: null + total_episodes: 500 + yaml: + dataset_name: pass_the_cleaner_e + dataset_uuid: null + task_descriptions: + - pick up the cleaner with right hand and passit to left hand then put it on the + table. + scene_type: + - home + - industry + atomic_actions: + - grasp + - pick + - place + objects: + - object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null + - object_name: cleaner + level1: daily_necessities + level2: cleaner + level3: null + level4: null + level5: null + operation_platform_height: null + device_model: + - leju_kuavo_4_pro + end_effector_type: five_finger_gripper + meta: + robot_type: leju_robot + codebase_version: v2.1 + statistics: + total_episodes: 430 + total_frames: 165558 + total_tasks: 1 + total_videos: 1290 + total_chunks: 1 + chunks_size: 1000 + fps: 30 + splits: + train: 0:429 + data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet + video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 + features: + observation.images.camera_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.camera_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 118 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + - left_arm_joint_1_eff_nm + - left_arm_joint_2_eff_nm + - left_arm_joint_3_eff_nm + - left_arm_joint_4_eff_nm + - left_arm_joint_5_eff_nm + - left_arm_joint_6_eff_nm + - left_arm_joint_7_eff_nm + - right_arm_joint_1_eff_nm + - right_arm_joint_2_eff_nm + - right_arm_joint_3_eff_nm + - right_arm_joint_4_eff_nm + - right_arm_joint_5_eff_nm + - right_arm_joint_6_eff_nm + - right_arm_joint_7_eff_nm + - left_leg_joint_1_vel_rad_s + - left_leg_joint_2_vel_rad_s + - left_leg_joint_3_vel_rad_s + - left_leg_joint_4_vel_rad_s + - left_leg_joint_5_vel_rad_s + - left_leg_joint_6_vel_rad_s + - right_leg_joint_1_vel_rad_s + - right_leg_joint_2_vel_rad_s + - right_leg_joint_3_vel_rad_s + - right_leg_joint_4_vel_rad_s + - right_leg_joint_5_vel_rad_s + - right_leg_joint_6_vel_rad_s + - left_leg_joint_1_eff_nm + - left_leg_joint_2_eff_nm + - left_leg_joint_3_eff_nm + - left_leg_joint_4_eff_nm + - left_leg_joint_5_eff_nm + - left_leg_joint_6_eff_nm + - right_leg_joint_1_eff_nm + - right_leg_joint_2_eff_nm + - right_leg_joint_3_eff_nm + - right_leg_joint_4_eff_nm + - right_leg_joint_5_eff_nm + - right_leg_joint_6_eff_nm + - head_joint_1_vel_rad_s + - head_joint_2_vel_rad_s + - head_joint_1_eff_nm + - head_joint_2_eff_nm + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - imu_accel_x_m_s2 + - imu_accel_y_m_s2 + - imu_accel_z_m_s2 + - imu_gyro_x_rad_s + - imu_gyro_y_rad_s + - imu_gyro_z_rad_s + - imu_quat_x + - imu_quat_y + - imu_quat_z + - imu_quat_w + action: + dtype: float32 + shape: + - 54 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_arm_joint_1_vel_rad_s + - left_arm_joint_2_vel_rad_s + - left_arm_joint_3_vel_rad_s + - left_arm_joint_4_vel_rad_s + - left_arm_joint_5_vel_rad_s + - left_arm_joint_6_vel_rad_s + - left_arm_joint_7_vel_rad_s + - right_arm_joint_1_vel_rad_s + - right_arm_joint_2_vel_rad_s + - right_arm_joint_3_vel_rad_s + - right_arm_joint_4_vel_rad_s + - right_arm_joint_5_vel_rad_s + - right_arm_joint_6_vel_rad_s + - right_arm_joint_7_vel_rad_s + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + depth_enabled: false diff --git a/info/consolidated_datasets.json b/info/consolidated_datasets.json new file mode 100644 index 0000000000000000000000000000000000000000..02fbd58b1961ffb8f941f3dc2be13b3c5b4569c8 --- /dev/null +++ b/info/consolidated_datasets.json @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57e8f9ff04e70324ce4310a9f1b85123f3d5e56c5d57f1c699e5e923dff265fd +size 14696690 diff --git a/info/data_index.json b/info/data_index.json new file mode 100644 index 0000000000000000000000000000000000000000..90b05c7809c7d05018b9fad903e1a49633c05868 --- /dev/null +++ b/info/data_index.json @@ -0,0 +1,437 @@ +{ + "datasets": [ + "AIRBOT_MMK2_beauty_sponge_and_cake_to_place", + "AIRBOT_MMK2_bowl_storage_pepper", + "AIRBOT_MMK2_boxs_storage", + "AIRBOT_MMK2_building_block_storage", + "AIRBOT_MMK2_cake_storage", + "AIRBOT_MMK2_chop_the_scallions", + "AIRBOT_MMK2_clean_the_desktop", + "AIRBOT_MMK2_clean_the_desktop_a", + "AIRBOT_MMK2_close_the_computer", + "AIRBOT_MMK2_cup_storage", + "AIRBOT_MMK2_desktop_storage", + "AIRBOT_MMK2_diamond_storage", + "AIRBOT_MMK2_double-sided_tape_placement", + "AIRBOT_MMK2_egg_storage", + "AIRBOT_MMK2_food_storage", + "AIRBOT_MMK2_item_storage", + "AIRBOT_MMK2_lemon_and_orange_storage", + "AIRBOT_MMK2_medicine_bottle_storage", + "AIRBOT_MMK2_mobile_calculator_box", + "AIRBOT_MMK2_mobile_car", + "AIRBOT_MMK2_mobile_phone_storage", + "AIRBOT_MMK2_open_notebook", + "AIRBOT_MMK2_organize_and_place_books", + "AIRBOT_MMK2_organize_books", + "AIRBOT_MMK2_place_cookies_and_beer", + "AIRBOT_MMK2_place_the_basin", + "AIRBOT_MMK2_place_the_blue_and_purple_blocks", + "AIRBOT_MMK2_place_the_books", + "AIRBOT_MMK2_place_the_building_blocks", + "AIRBOT_MMK2_place_the_cake", + "AIRBOT_MMK2_place_the_glasses_case_and_gold_bars", + "AIRBOT_MMK2_place_the_network_cable_and_mouse_box", + "AIRBOT_MMK2_place_the_paper_drawer", + "AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers", + "AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife", + "AIRBOT_MMK2_place_the_shark_toys_and_gold_bars", + "AIRBOT_MMK2_place_the_small_bowl_of_canned_food", + "AIRBOT_MMK2_place_the_sponge_and_wet_wipes", + "AIRBOT_MMK2_place_the_umbrella_and_the_ruler", + "AIRBOT_MMK2_place_the_yellow_block", + "AIRBOT_MMK2_play_the_guitar", + "AIRBOT_MMK2_potato_storage", + "AIRBOT_MMK2_pour_out_the_beauty_blender", + "AIRBOT_MMK2_pull_the_syringe_piston", + "AIRBOT_MMK2_pumpkin_storage", + "AIRBOT_MMK2_push_building_blocks", + "AIRBOT_MMK2_push_piston", + "AIRBOT_MMK2_screw_the_bottle_cap", + "AIRBOT_MMK2_square_arrangement", + "AIRBOT_MMK2_stacking_blocks", + "AIRBOT_MMK2_storage_box_for_mouse_and_sponge", + "AIRBOT_MMK2_storage_computer_box", + "AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges", + "AIRBOT_MMK2_storage_item", + "AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle", + "AIRBOT_MMK2_storage_rubiks_cube_and_cup", + "AIRBOT_MMK2_storage_spoon", + "AIRBOT_MMK2_storage_tissue_and_milk_carton", + "AIRBOT_MMK2_storage_tissue_paper", + "AIRBOT_MMK2_storage_toy_cars_and_cookies", + "AIRBOT_MMK2_storage_wet_tissue_and_building_block", + "AIRBOT_MMK2_store_beauty_blender_and_building_blocks", + "AIRBOT_MMK2_store_coffee_cups", + "AIRBOT_MMK2_store_peaches_and_pears", + "AIRBOT_MMK2_store_pomegranates_and_mangoes", + "AIRBOT_MMK2_store_wet_wipes_and_bowls", + "AIRBOT_MMK2_take_down_paper_cup", + "AIRBOT_MMK2_take_down_umbrella_and_mineral_water", + "AIRBOT_MMK2_take_the_book", + "AIRBOT_MMK2_the_cup_is_put_into_the_bucket", + "AIRBOT_MMK2_toy_storage", + "AgiBot-g1_battery_storage_b", + "AgiBot-g1_battery_storage_c", + "AgiBot-g1_box_storage_a", + "AgiBot-g1_box_storage_b", + "AgiBot-g1_box_storage_c", + "AgiBot-g1_box_storage_cardboard_box_a", + "AgiBot-g1_box_storage_cardboard_box_b", + "AgiBot-g1_box_storage_cardboard_box_c", + "AgiBot-g1_box_storage_e", + "AgiBot-g1_box_storage_part_a", + "AgiBot-g1_box_storage_tool", + "AgiBot-g1_left_capture_part", + "AgiBot-g1_mobile_accessory_storage_box_a", + "AgiBot-g1_mobile_accessory_storage_box_c", + "AgiBot-g1_mobile_accessory_storage_box_d", + "AgiBot-g1_mobile_accessory_storage_box_e", + "AgiBot-g1_mobile_accessory_storage_box_f", + "AgiBot-g1_pick_up_battery", + "AgiBot-g1_picks_up_battery_a", + "AgiBot-g1_picks_up_battery_b", + "AgiBot-g1_picks_up_cardboard_box", + "AgiBot-g1_picks_up_parts_a", + "AgiBot-g1_picks_up_parts_b", + "AgiBot-g1_remove_the_accessory", + "AgiBot-g1_right_capture_part", + "AgiBot-g1_robotic_arm_picks_up_battery", + "AgiBot-g1_robotic_arm_picks_up_parts", + "AgiBot-g1_storage_item_b", + "AgiBot-g1_storage_item_d", + "AgiBot-g1_storage_item_e", + "AgiBot-g1_tool_storage", + "Airbot_MMK2_move_block_gold_bar_models", + "Airbot_MMK2_move_book_front", + "Airbot_MMK2_move_book_right_side", + "Airbot_MMK2_move_bottle_tape_measure", + "Airbot_MMK2_move_fake_food", + "Airbot_MMK2_move_medicine_bottle", + "Airbot_MMK2_move_phone_twice", + "Airbot_MMK2_move_tub", + "Airbot_MMK2_open_laptop", + "Airbot_MMK2_pass_paper_box", + "Airbot_MMK2_pour_BBs", + "Airbot_MMK2_push_toy_car", + "Airbot_MMK2_storage_bottle_part", + "Airbot_MMK2_storage_bowl_wet_wipes", + "Airbot_MMK2_storage_braised_pork_belly_shrimp", + "Airbot_MMK2_storage_cookie_toy_car", + "Airbot_MMK2_storage_cup", + "Airbot_MMK2_storage_cup_rubik_s_cube", + "Airbot_MMK2_storage_egg_bowl", + "Airbot_MMK2_storage_egg_plate", + "Airbot_MMK2_storage_electronics_yellow_baket", + "Airbot_MMK2_storage_peach_pear", + "Airbot_MMK2_storage_tools", + "Airbot_MMK2_storage_tumbler_umbrella", + "Airbot_MMK2_swap_bottle_wet_wipes_plate", + "Airbot_MMK2_swap_sponge_paper_box_plate", + "Airbot_MMK2_take_cup", + "Airbot_MMK2_take_drink", + "Airbot_MMK2_take_electronics", + "Airbot_MMK2_take_toy_car", + "Cobot_Magic_box_storage_chopsticks", + "Cobot_Magic_cap_the_pen_a", + "Cobot_Magic_catch_the_ball", + "Cobot_Magic_classification_of_fruits_and_vegetables", + "Cobot_Magic_classification_of_fruits_and_vegetables_a", + "Cobot_Magic_classification_of_tableware", + "Cobot_Magic_clean_blackboard", + "Cobot_Magic_clean_up_the_tableware", + "Cobot_Magic_clear_the_desktop", + "Cobot_Magic_close_book", + "Cobot_Magic_close_button", + "Cobot_Magic_cube_reset", + "Cobot_Magic_cut_banana", + "Cobot_Magic_desktop_organization", + "Cobot_Magic_drawer_storage_mineral_water", + "Cobot_Magic_fold_clothes", + "Cobot_Magic_fold_the_towel", + "Cobot_Magic_fold_towel_a", + "Cobot_Magic_food_packaging", + "Cobot_Magic_make_fruit_salad", + "Cobot_Magic_make_hamburger", + "Cobot_Magic_mobile_cube", + "Cobot_Magic_mobile_cube_blackboard", + "Cobot_Magic_move_beverage", + "Cobot_Magic_move_plate", + "Cobot_Magic_move_the_ball", + "Cobot_Magic_move_the_ball_and_the_cube_block", + "Cobot_Magic_move_the_ball_interference", + "Cobot_Magic_move_the_bread", + "Cobot_Magic_move_the_cup", + "Cobot_Magic_move_the_plate", + "Cobot_Magic_move_the_small_ball", + "Cobot_Magic_movethe_position_of_the_bluetooth", + "Cobot_Magic_open_the_shoebox", + "Cobot_Magic_place_square_pyramid", + "Cobot_Magic_place_the_cube_block", + "Cobot_Magic_place_the_test_tube", + "Cobot_Magic_plate_storage_apple", + "Cobot_Magic_plate_storage_bread", + "Cobot_Magic_plate_storaje_baozi", + "Cobot_Magic_pot_storage_steamer", + "Cobot_Magic_pour_drink", + "Cobot_Magic_pour_water_a", + "Cobot_Magic_pour_water_bottle", + "Cobot_Magic_prepare_breakfast", + "Cobot_Magic_pull_zipper", + "Cobot_Magic_pushing_magnet", + "Cobot_Magic_put_in_the_pear", + "Cobot_Magic_put_the_building_block_on_the_table", + "Cobot_Magic_steamer_storage_dumpling", + "Cobot_Magic_storage_plate", + "Cobot_Magic_take_out_a_pen_from_the_pen_holder", + "Cobot_Magic_take_out_the_bread", + "Cobot_Magic_take_the_shoes_off_the_shelf", + "Cobot_Magic_the_box_stores_table_tennis_balls", + "Cobot_Magic_the_plate_holds_the_fruit", + "Cobot_Magic_the_plate_holds_the_vegetables", + "Cobot_Magic_turn_off_the_desk_lamp", + "Cobot_Magic_turn_on_the_bulb", + "Cobot_Magic_turn_on_the_desk_lamp", + "Cobot_Magic_twist_bottle_cap", + "Cobot_Magic_vase_storage_flower", + "Cobot_Magic_water_bottle_storage", + "G1edu-u3_basket_storage_apple", + "G1edu-u3_basket_storage_apple_b", + "G1edu-u3_bowl_storage_grape_singletry", + "G1edu-u3_food_storage", + "G1edu-u3_little_tray_storage_apple_b", + "G1edu-u3_little_tray_storage_lemon_b", + "G1edu-u3_pick_apple_a", + "G1edu-u3_pick_apple_b", + "G1edu-u3_pick_crumpled_paper_aa", + "G1edu-u3_pick_cup_a", + "G1edu-u3_pick_empty_bottle_ab", + "G1edu-u3_pick_leftover_food_ac", + "G1edu-u3_pick_metal_bowl_aa", + "G1edu-u3_pick_metal_bowl_ab", + "G1edu-u3_pick_plastic_bowl_ac", + "G1edu-u3_pick_plastic_bowl_ad", + "G1edu-u3_pick_up_the_bottled_water_a", + "G1edu-u3_pick_up_the_bottled_water_as", + "G1edu-u3_pick_up_the_bottled_water_b", + "G1edu-u3_pick_up_the_bread_az", + "G1edu-u3_pick_up_the_lemon_a", + "G1edu-u3_pick_up_the_lemon_at", + "G1edu-u3_pick_up_the_tissue_box_ao", + "G1edu-u3_pick_up_the_toy_ai", + "G1edu-u3_place_apple_c", + "G1edu-u3_place_bottle_c", + "G1edu-u3_place_metal_bowl_ae", + "G1edu-u3_place_metal_bowl_af", + "G1edu-u3_place_plastic_bowl_ag", + "G1edu-u3_place_plastic_bowl_ah", + "G1edu-u3_plate_storage_doll", + "G1edu-u3_plate_storage_rabbit_doll", + "G1edu-u3_pullBowl_storage_bread_a", + "G1edu-u3_pullBowl_storage_bread_b", + "G1edu-u3_pullBowl_storage_bread_unordered_C", + "G1edu-u3_pullBowl_storage_bread_unordered_a", + "G1edu-u3_pullBowl_storage_bread_unordered_b", + "G1edu-u3_put_the_bread_aw", + "G1edu-u3_put_the_cup_b", + "G1edu-u3_put_the_lemon_af", + "G1edu-u3_put_the_lemon_on_the_plate_ah", + "G1edu-u3_put_the_tissue_box_al", + "G1edu-u3_put_the_toy_ap", + "G1edu-u3_put_the_water_bottle_aq", + "G1edu-u3_put_the_water_bottle_on_the_table_d", + "G1edu-u3_stack_bowls", + "G1edu-u3_tray_storage_lemon_a", + "Galbot_g1_fold_clothe_b", + "Galbot_g1_fold_clothe_c", + "Galbot_g1_fold_clothe_e", + "Galbot_g1_steamer_storage_baozi_a", + "Galbot_g1_steamer_storage_baozi_b", + "Galbot_g1_steamer_storage_baozi_c", + "Galbot_g1_steamer_storage_baozi_d", + "Galbot_g1_steamer_storage_baozi_e", + "Galbot_g1_steamer_storage_baozi_f", + "Galbot_g1_steamer_storage_baozi_g", + "Galbot_g1_steamer_storage_baozi_h", + "Galbot_g1_steamer_storage_baozi_i", + "Galbot_g1_steamer_storage_baozi_j", + "R1_Lite_boil_water_in_a_kettle", + "R1_Lite_build_blocks", + "R1_Lite_catch_the_water", + "R1_Lite_clean_the_floor", + "R1_Lite_clean_the_sink", + "R1_Lite_clean_toilet", + "R1_Lite_connect_the_router_cable", + "R1_Lite_cook_a_meal", + "R1_Lite_cover_the_pot_lid", + "R1_Lite_dispose_of_leftover_food", + "R1_Lite_drawer_storage_hair_dryer", + "R1_Lite_fold_clothes", + "R1_Lite_garbage_disposal", + "R1_Lite_hang_clothes", + "R1_Lite_make_a_landline_call", + "R1_Lite_make_breakfast", + "R1_Lite_make_tea", + "R1_Lite_make_the_bed", + "R1_Lite_move_the_position_of_the_apple", + "R1_Lite_move_the_position_of_the_black_marker", + "R1_Lite_move_the_position_of_the_brush", + "R1_Lite_move_the_position_of_the_coffee_capsule", + "R1_Lite_move_the_position_of_the_cookie", + "R1_Lite_move_the_position_of_the_duck", + "R1_Lite_move_the_position_of_the_glass", + "R1_Lite_move_the_position_of_the_long_bread", + "R1_Lite_move_the_position_of_the_milk", + "R1_Lite_move_the_position_of_the_orange", + "R1_Lite_move_the_position_of_the_peeler", + "R1_Lite_move_the_position_of_the_pen", + "R1_Lite_move_the_position_of_the_rubiks_cube", + "R1_Lite_move_the_position_of_the_soda", + "R1_Lite_move_the_position_of_the_spoon", + "R1_Lite_move_the_position_of_the_triangle_bread", + "R1_Lite_open_and_close_curtains", + "R1_Lite_open_and_close_microwave_oven", + "R1_Lite_open_and_close_nightstand_door", + "R1_Lite_open_and_close_nightstand_drawer", + "R1_Lite_open_and_close_the_freezer_door", + "R1_Lite_open_the_food_pan", + "R1_Lite_opening_and_closing_aalcony_sliding_doors", + "R1_Lite_peach_storage", + "R1_Lite_pick_up_and_store_items", + "R1_Lite_place_the_dress_shirt_on_the_hanger", + "R1_Lite_plug_the_socket", + "R1_Lite_pour_water", + "R1_Lite_put_on_a_garbage_bag", + "R1_Lite_put_slippers_into_floor_standing_shoe_cabinet", + "R1_Lite_put_the_pillow_on_the_bed", + "R1_Lite_put_the_shoes_into_the_shoe_box", + "R1_Lite_put_the_tableware_into_the_cupboard", + "R1_Lite_sliding_chair", + "R1_Lite_stack_baskets", + "R1_Lite_storage_of_toiletries", + "R1_Lite_switch_labels", + "R1_Lite_switch_on_and_off_the_central_air_conditioning", + "R1_Lite_tableware_arrangement", + "R1_Lite_tableware_cleaning", + "R1_Lite_take_and_place_the_portable_power_bank", + "R1_Lite_take_and_put_away_garden_stuff", + "R1_Lite_take_and_put_away_garden_stuff_a", + "R1_Lite_take_and_put_away_items", + "R1_Lite_take_and_put_the_bowl", + "R1_Lite_take_clothes_out_of_the_washing_machine", + "R1_Lite_take_or_store_plates", + "R1_Lite_tea_service_table_setting", + "R1_Lite_throw_out_the_trash", + "R1_Lite_tidy_up_toiletries", + "R1_Lite_wash_the_tableware", + "R1_Lite_washing_board", + "R1_Lite_wipe_the_table", + "RMC-AIDA-L_basket_storage_banana", + "RMC-AIDA-L_basket_storage_egg_yolk_pastry", + "RMC-AIDA-L_basket_storage_long_bread", + "RMC-AIDA-L_basket_storage_orange", + "RMC-AIDA-L_basket_storage_peach", + "RMC-AIDA-L_box_up_down", + "RMC-AIDA-L_clean_table", + "RMC-AIDA-L_desktop_organization", + "RMC-AIDA-L_fold_shirt", + "RMC-AIDA-L_fold_shorts", + "RMC-AIDA-L_fold_towel", + "RMC-AIDA-L_food_packaging", + "RMC-AIDA-L_food_storage", + "RMC-AIDA-L_fruit_storage", + "RMC-AIDA-L_get_water", + "RMC-AIDA-L_glasses_storage", + "RMC-AIDA-L_organise_the_document_bag", + "RMC-AIDA-L_place_test_tube", + "RMC-AIDA-L_place_the_fruits_repeatedly", + "RMC-AIDA-L_place_towel", + "RMC-AIDA-L_plate_storage", + "RMC-AIDA-L_pour_coffee_beans", + "RMC-AIDA-L_pour_rice", + "RMC-AIDA-L_pour_tea", + "RMC-AIDA-L_pull_open_bag", + "RMC-AIDA-L_stack_baskets", + "RMC-AIDA-L_stir_coffee", + "RMC-AIDA-L_storage_bin_storage", + "Split_aloha_basket_storage_banana", + "Split_aloha_basket_storage_bread", + "Split_aloha_basket_storage_egg_yolk_pastry", + "Split_aloha_basket_storage_long_bread", + "Split_aloha_basket_storage_orange", + "Split_aloha_basket_storage_peach", + "Split_aloha_fold_the_pants", + "Split_aloha_plate_storage", + "Split_aloha_pour_rice", + "Split_aloha_pour_tea", + "Split_aloha_scoop_coffee_beans", + "Split_aloha_stack_baskets", + "Split_aloha_stir_coffee", + "Split_aloha_wipe_table", + "Split_aloha_wipe_the_table", + "Split_aloha_zip_up_the_document_bag", + "Tianqin_A2_box_storage_part", + "Tianqin_A2_container_storage_graphics_card", + "Tianqin_A2_place_the_paper_box", + "alpha_bot_2_carry_the_clothes_basket", + "alpha_bot_2_item_reversal", + "alpha_bot_2_move_the_table", + "alpha_bot_2_operate_the_microwave_oven", + "alpha_bot_2_pass_the_sandbag", + "alpha_bot_2_press_the_button_a", + "alpha_bot_2_press_the_button_b", + "alpha_bot_2_recover_after_touching_an_obstacle", + "alpha_bot_2_stack_building_blocks", + "alpha_bot_2_sticker", + "leju_robot_box_storage_parcel", + "leju_robot_box_storage_parcel_a", + "leju_robot_box_storage_parcel_b", + "leju_robot_box_storage_parcel_c", + "leju_robot_box_storage_parcel_d", + "leju_robot_box_storage_parcel_f", + "leju_robot_box_storage_parcel_g", + "leju_robot_box_storage_parcel_h", + "leju_robot_box_storage_parcel_i", + "leju_robot_box_storage_parcel_j", + "leju_robot_hotel_services_a", + "leju_robot_hotel_services_aa", + "leju_robot_hotel_services_ab", + "leju_robot_hotel_services_ac", + "leju_robot_hotel_services_ad", + "leju_robot_hotel_services_ae", + "leju_robot_hotel_services_af", + "leju_robot_hotel_services_ag", + "leju_robot_hotel_services_ah", + "leju_robot_hotel_services_b", + "leju_robot_hotel_services_c", + "leju_robot_hotel_services_d", + "leju_robot_hotel_services_e", + "leju_robot_hotel_services_f", + "leju_robot_hotel_services_h", + "leju_robot_hotel_services_i", + "leju_robot_moving_parts_a", + "leju_robot_moving_parts_b", + "leju_robot_moving_parts_c", + "leju_robot_moving_parts_f", + "leju_robot_moving_parts_g", + "leju_robot_moving_parts_h", + "leju_robot_moving_parts_i", + "leju_robot_moving_parts_j", + "leju_robot_moving_parts_k", + "leju_robot_moving_parts_m", + "leju_robot_moving_parts_n", + "leju_robot_moving_parts_o", + "leju_robot_moving_parts_q", + "leju_robot_moving_parts_r", + "leju_robot_moving_parts_s", + "leju_robot_moving_parts_t", + "leju_robot_moving_parts_u", + "leju_robot_part_placement", + "leju_robot_pass_the_cleaner_a", + "leju_robot_pass_the_cleaner_b", + "leju_robot_pass_the_cleaner_c", + "leju_robot_pass_the_cleaner_d", + "leju_robot_pass_the_cleaner_e" + ], + "count": 432 +} \ No newline at end of file diff --git a/info/exclude.json b/info/exclude.json new file mode 100644 index 0000000000000000000000000000000000000000..6e9de264038f0ff8b59e596ce68b1957da372cc0 --- /dev/null +++ b/info/exclude.json @@ -0,0 +1,54 @@ +[ + "AIRBOT_MMK2_beauty_sponge_and_cake_to_place", + "AIRBOT_MMK2_building_block_storage", + "AgiBot-g1_battery_storage_c", + "AgiBot-g1_box_storage_part_a", + "AgiBot-g1_box_storage_tool", + "AgiBot-g1_mobile_accessory_storage_box_d", + "AgiBot-g1_picks_up_parts_b", + "Cobot_Magic_classification_of_fruits_and_vegetables_a", + "Cobot_Magic_desktop_organization", + "Cobot_Magic_drawer_storage_mineral_water", + "Cobot_Magic_food_packaging", + "Cobot_Magic_make_hamburger", + "Cobot_Magic_move_the_ball_and_the_cube_block", + "Cobot_Magic_open_the_shoebox", + "Cobot_Magic_pour_water_a", + "Cobot_Magic_vase_storage_flower", + "G1edu-u3_bowl_storage_grape_singletry", + "G1edu-u3_food_storage", + "G1edu-u3_plate_storage_doll", + "G1edu-u3_pullBowl_storage_bread_b", + "Galbot_g1_fold_clothe_b", + "Galbot_g1_fold_clothe_c", + "Galbot_g1_fold_clothe_e", + "Galbot_g1_steamer_storage_baozi_a", + "Galbot_g1_steamer_storage_baozi_b", + "Galbot_g1_steamer_storage_baozi_c", + "Galbot_g1_steamer_storage_baozi_d", + "Galbot_g1_steamer_storage_baozi_e", + "Galbot_g1_steamer_storage_baozi_f", + "Galbot_g1_steamer_storage_baozi_g", + "Galbot_g1_steamer_storage_baozi_h", + "Galbot_g1_steamer_storage_baozi_i", + "Galbot_g1_steamer_storage_baozi_j", + "R1_Lite_cook_a_meal", + "R1_Lite_drawer_storage_hair_dryer", + "R1_Lite_move_the_position_of_the_coffee_capsule", + "R1_Lite_move_the_position_of_the_soda", + "R1_Lite_open_and_close_microwave_oven", + "R1_Lite_pick_up_and_store_items", + "R1_Lite_put_slippers_into_floor_standing_shoe_cabinet", + "R1_Lite_take_clothes_out_of_the_washing_machine", + "R1_Lite_throw_out_the_trash", + "RMC-AIDA-L_box_up_down", + "RMC-AIDA-L_fold_shirt", + "Split_aloha_fold_the_pants", + "Split_aloha_pour_tea", + "Tianqin_A2_place_the_paper_box", + "leju_robot_box_storage_parcel_f", + "leju_robot_hotel_services_ah", + "leju_robot_moving_parts_o", + "leju_robot_moving_parts_s", + "leju_robot_moving_parts_t" +] diff --git a/info/robot_aliases.json b/info/robot_aliases.json new file mode 100644 index 0000000000000000000000000000000000000000..7aac3bc5c7f431b94af665f716d42b7c4aa7fb79 --- /dev/null +++ b/info/robot_aliases.json @@ -0,0 +1,54 @@ +{ + "G1edu-u3": { + "common_name": "Unitree_G1edu_u3", + "aliases": ["宇树", "G1", "Unitree", "Unitree_G1", "u3","g1edu", "gedu", + "g1u3", "宇树g1", "unitreeg1", "g1eduu3", "yushu", "yushug1"] + }, + "RMC-AIDA-L": { + "common_name": "Realman_RMC_AIDA_L", + "aliases": ["瑞尔曼", "ADIA", "RealMan", "REALMAN", "RMC", + "aida", "aidal","rmcaida", + "realman", "rmc", "adial", "adialrmc","realmanrmc","realmanrmcaida", "ruierman", "睿尔曼", + "rs", "rs01", "rs02", "rs-01", "rs-02"] + }, + "AIRBOT_MMK2": { + "common_name": "Airbot_MMK2", + "aliases": ["AIRBOT", "MMK2", "mmk", "AIRBOT_MMK2", "air", "airbotmmk", "airbot2", + "discover", "mmk2", "mmk2airbot", "discovermmk2", "discovermmk2airbot","求知"] + }, + "AgiBot-g1": { + "common_name": "Agibot_G1", + "aliases": ["AgiBot", "AGIBOT", "agi","agibotg1", "agig1", "智元", "zhiyuan", "agibot", + "agi", "a2d", "a2-d"] + }, + "Cobot_Magic": { + "common_name": "Agilex_Cobot_Magic", + "aliases": ["Cobot", "Magic","mag", "cobotmagic", + "songling", "agilex", "agile", "松灵", "aloha"] + }, + "R1_Lite": { + "common_name": "Galaxea_R1_Lite", + "aliases": ["R1", "Lite","r1lite", "xinghaitu", "xinhaitu", "galaxea", "星海图"] + }, + "Split_aloha": { + "common_name": "Agilex_Split_ALOHA", + "aliases": ["Aloha", "Split","splitaloha", + 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